From 2ac07aef16a88418cbeb8c005b8b2e510a164bc2 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 10 Oct 2026 16:54:45 -0600
Subject: [PATCH] Build runtime

---
 openpilot/cereal/gen/cpp/custom.capnp.c++     |  260 ++-
 openpilot/cereal/gen/cpp/custom.capnp.h       |   66 +-
 openpilot/cereal/libcereal.a                  |  Bin 1181652 -> 1182100 bytes
 openpilot/cereal/libsocketmaster.a            |  Bin 1002292 -> 1002292 bytes
 .../locationd/models/generated/car.cpp        |  684 +++---
 .../locationd/models/generated/car.h          |   42 +-
 .../locationd/models/generated/libcar.so      |  Bin 24120528 -> 24120528 bytes
 .../locationd/models/generated/libpose.so     |  Bin 20605632 -> 20605632 bytes
 .../locationd/models/generated/pose.cpp       | 1938 ++++++++---------
 .../locationd/models/generated/pose.h         |   26 +-
 openpilot/selfdrive/pandad/pandad             |  Bin 5275112 -> 5275488 bytes
 openpilot/system/camerad/camerad              |  Bin 5191632 -> 5191632 bytes
 openpilot/system/loggerd/bootlog              |  Bin 3399664 -> 3399664 bytes
 openpilot/system/loggerd/encoderd             |  Bin 6815616 -> 6815616 bytes
 openpilot/system/loggerd/liblogger.a          |  Bin 5168200 -> 5168200 bytes
 openpilot/system/loggerd/loggerd              |  Bin 4672048 -> 4672048 bytes
 panda/board/obj/body_h7.bin.signed            |  Bin 210080 -> 210080 bytes
 panda/board/obj/bootstub.body_h7.bin          |  Bin 12128 -> 12128 bytes
 panda/board/obj/bootstub.panda.bin            |  Bin 11120 -> 11120 bytes
 panda/board/obj/bootstub.panda_h7.bin         |  Bin 18952 -> 18952 bytes
 panda/board/obj/gitversion.h                  |    2 +-
 panda/board/obj/panda.bin.signed              |  Bin 201020 -> 201020 bytes
 panda/board/obj/panda_h7.bin.signed           |  Bin 210600 -> 210600 bytes
 panda/board/obj/version                       |    2 +-
 prebuilt.json                                 |    2 +-
 25 files changed, 1563 insertions(+), 1459 deletions(-)

diff --git a/openpilot/cereal/gen/cpp/custom.capnp.c++ b/openpilot/cereal/gen/cpp/custom.capnp.c++
index 58c65aacb7..2797cb858b 100644
--- a/openpilot/cereal/gen/cpp/custom.capnp.c++
+++ b/openpilot/cereal/gen/cpp/custom.capnp.c++
@@ -9883,17 +9883,17 @@ const ::capnp::_::RawSchema s_94d51b83b2a8ea50 = {
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Kind_94d51b83b2a8ea50, 94d51b83b2a8ea50);
-static const ::capnp::_::AlignedData<301> b_fc6241ed8877b611 = {
+static const ::capnp::_::AlignedData<335> b_fc6241ed8877b611 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      17, 182, 119, 136, 237,  65,  98, 252,
-     13,   0,   0,   0,   1,   0,   6,   0,
+     13,   0,   0,   0,   1,   0,   7,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
-      2,   0,   7,   0,   0,   0,   0,   0,
+      3,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 210,   0,   0,   0,
      33,   0,   0,   0,  87,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    109,   0,   0,   0, 135,   3,   0,   0,
+    109,   0,   0,   0, 247,   3,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
@@ -9921,119 +9921,133 @@ static const ::capnp::_::AlignedData<301> b_fc6241ed8877b611 = {
      76,  97, 110, 101,  67, 104,  97, 110,
     103, 101,  83, 116,  97, 116, 117, 115,
      87, 105, 114, 101,   0,   0,   0,   0,
-     64,   0,   0,   0,   3,   0,   4,   0,
+     72,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    177,   1,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    176,   1,   0,   0,   3,   0,   1,   0,
-    188,   1,   0,   0,   2,   0,   1,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   1,   0,   1,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    185,   1,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    184,   1,   0,   0,   3,   0,   1,   0,
-    196,   1,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    193,   1,   0,   0, 186,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    196,   1,   0,   0,   3,   0,   1,   0,
-    208,   1,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    205,   1,   0,   0, 138,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    208,   1,   0,   0,   3,   0,   1,   0,
-    220,   1,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    217,   1,   0,   0, 154,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    220,   1,   0,   0,   3,   0,   1,   0,
-    232,   1,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,  16,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    229,   1,   0,   0,  42,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    224,   1,   0,   0,   3,   0,   1,   0,
-    236,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,  16,   1,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    233,   1,   0,   0, 114,   0,   0,   0,
+    233,   1,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     232,   1,   0,   0,   3,   0,   1,   0,
     244,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,  17,   1,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    241,   1,   0,   0, 154,   0,   0,   0,
+    241,   1,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    244,   1,   0,   0,   3,   0,   1,   0,
-      0,   2,   0,   0,   2,   0,   1,   0,
-      8,   0,   0,   0,  18,   1,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
+    240,   1,   0,   0,   3,   0,   1,   0,
+    252,   1,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    253,   1,   0,   0,  82,   0,   0,   0,
+    249,   1,   0,   0, 186,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     252,   1,   0,   0,   3,   0,   1,   0,
       8,   2,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   2,   0,   0, 138,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      8,   2,   0,   0,   3,   0,   1,   0,
+     20,   2,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   2,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     20,   2,   0,   0,   3,   0,   1,   0,
+     32,   2,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,  16,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   2,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     24,   2,   0,   0,   3,   0,   1,   0,
+     36,   2,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,  16,   1,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   2,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     32,   2,   0,   0,   3,   0,   1,   0,
+     44,   2,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,  17,   1,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   2,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     44,   2,   0,   0,   3,   0,   1,   0,
+     56,   2,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,  18,   1,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     53,   2,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   2,   0,   0,   3,   0,   1,   0,
+     64,   2,   0,   0,   2,   0,   1,   0,
       9,   0,   0,   0,  19,   1,   0,   0,
       0,   0,   1,   0,   9,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      5,   2,   0,   0, 122,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      4,   2,   0,   0,   3,   0,   1,   0,
-     16,   2,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,  20,   1,   0,   0,
-      0,   0,   1,   0,  10,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     13,   2,   0,   0, 162,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     16,   2,   0,   0,   3,   0,   1,   0,
-     28,   2,   0,   0,   2,   0,   1,   0,
-     11,   0,   0,   0,  21,   1,   0,   0,
-      0,   0,   1,   0,  11,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     25,   2,   0,   0, 154,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     28,   2,   0,   0,   3,   0,   1,   0,
-     40,   2,   0,   0,   2,   0,   1,   0,
-     12,   0,   0,   0,  22,   1,   0,   0,
-      0,   0,   1,   0,  12,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     37,   2,   0,   0, 154,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     40,   2,   0,   0,   3,   0,   1,   0,
-     52,   2,   0,   0,   2,   0,   1,   0,
-     13,   0,   0,   0,  18,   0,   0,   0,
-      0,   0,   1,   0,  13,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     49,   2,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     48,   2,   0,   0,   3,   0,   1,   0,
-     60,   2,   0,   0,   2,   0,   1,   0,
-     14,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,  14,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     57,   2,   0,   0, 154,   0,   0,   0,
+     61,   2,   0,   0, 122,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      60,   2,   0,   0,   3,   0,   1,   0,
      72,   2,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,  20,   1,   0,   0,
+      0,   0,   1,   0,  10,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     69,   2,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     72,   2,   0,   0,   3,   0,   1,   0,
+     84,   2,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,  21,   1,   0,   0,
+      0,   0,   1,   0,  11,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     81,   2,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     84,   2,   0,   0,   3,   0,   1,   0,
+     96,   2,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,  22,   1,   0,   0,
+      0,   0,   1,   0,  12,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     93,   2,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     96,   2,   0,   0,   3,   0,   1,   0,
+    108,   2,   0,   0,   2,   0,   1,   0,
+     13,   0,   0,   0,  18,   0,   0,   0,
+      0,   0,   1,   0,  13,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105,   2,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    104,   2,   0,   0,   3,   0,   1,   0,
+    116,   2,   0,   0,   2,   0,   1,   0,
+     14,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,  14,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    113,   2,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116,   2,   0,   0,   3,   0,   1,   0,
+    128,   2,   0,   0,   2,   0,   1,   0,
      15,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,  15,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   2,   0,   0, 122,   0,   0,   0,
+    125,   2,   0,   0, 122,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     68,   2,   0,   0,   3,   0,   1,   0,
-     80,   2,   0,   0,   2,   0,   1,   0,
+    124,   2,   0,   0,   3,   0,   1,   0,
+    136,   2,   0,   0,   2,   0,   1,   0,
+     16,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,  16,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    133,   2,   0,   0, 194,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    136,   2,   0,   0,   3,   0,   1,   0,
+    148,   2,   0,   0,   2,   0,   1,   0,
+     17,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,  17,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    145,   2,   0,   0, 170,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    148,   2,   0,   0,   3,   0,   1,   0,
+    160,   2,   0,   0,   2,   0,   1,   0,
     115, 101, 115, 115, 105, 111, 110,  73,
     100,   0,   0,   0,   0,   0,   0,   0,
      12,   0,   0,   0,   0,   0,   0,   0,
@@ -10183,6 +10197,26 @@ static const ::capnp::_::AlignedData<301> b_fc6241ed8877b611 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105, 110, 116, 101, 110, 116,  80, 114,
+    111, 100, 117,  99, 101, 114,  83, 101,
+    115, 115, 105, 111, 110,  73, 100,   0,
+     12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105, 110, 116, 101, 110, 116,  73, 110,
+    116, 101, 103, 114, 105, 116, 121,  69,
+    112, 111,  99, 104,   0,   0,   0,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
@@ -10192,14 +10226,14 @@ static const ::capnp::_::RawSchema* const d_fc6241ed8877b611[] = {
   &s_b63a8514b8adccf9,
   &s_da4149b4426ee957,
 };
-static const uint16_t m_fc6241ed8877b611[] = {9, 10, 14, 13, 15, 6, 7, 5, 11, 3, 12, 8, 1, 0, 2, 4};
-static const uint16_t i_fc6241ed8877b611[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
+static const uint16_t m_fc6241ed8877b611[] = {9, 10, 14, 13, 15, 17, 16, 6, 7, 5, 11, 3, 12, 8, 1, 0, 2, 4};
+static const uint16_t i_fc6241ed8877b611[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17};
 const ::capnp::_::RawSchema s_fc6241ed8877b611 = {
-  0xfc6241ed8877b611, b_fc6241ed8877b611.words, 301, d_fc6241ed8877b611, m_fc6241ed8877b611,
-  2, 16, i_fc6241ed8877b611, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
+  0xfc6241ed8877b611, b_fc6241ed8877b611.words, 335, d_fc6241ed8877b611, m_fc6241ed8877b611,
+  2, 18, i_fc6241ed8877b611, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<37> b_da4149b4426ee957 = {
+static const ::capnp::_::AlignedData<43> b_da4149b4426ee957 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      87, 233, 110,  66, 180,  73,  65, 218,
      26,   0,   0,   0,   2,   0,   0,   0,
@@ -10209,7 +10243,7 @@ static const ::capnp::_::AlignedData<37> b_da4149b4426ee957 = {
      21,   0,   0,   0,  50,   1,   0,   0,
      37,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0, 103,   0,   0,   0,
+     33,   0,   0,   0, 127,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
@@ -10218,32 +10252,38 @@ static const ::capnp::_::AlignedData<37> b_da4149b4426ee957 = {
     101,  46,  70,  97, 117, 108, 116,  82,
     101,  97, 115, 111, 110,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     16,   0,   0,   0,   1,   0,   2,   0,
+     20,   0,   0,   0,   1,   0,   2,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     41,   0,   0,   0,  66,   0,   0,   0,
+     53,   0,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0,  42,   0,   0,   0,
+     45,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       2,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 122,   0,   0,   0,
+     37,   0,   0,   0, 122,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       3,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0,  74,   0,   0,   0,
+     33,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0, 146,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     117, 110, 107, 110, 111, 119, 110,   0,
     110, 111, 110, 101,   0,   0,   0,   0,
     116, 114,  97, 110, 115, 112, 111, 114,
     116,  80,  97, 117, 115, 101,   0,   0,
      99, 114, 105, 116, 105,  99,  97, 108,
-      0,   0,   0,   0,   0,   0,   0,   0, }
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 118,  97, 105, 108,  97,  98, 105,
+    108, 105, 116, 121,  80,  97, 117, 115,
+    101,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_da4149b4426ee957 = b_da4149b4426ee957.words;
 #if !CAPNP_LITE
-static const uint16_t m_da4149b4426ee957[] = {3, 1, 2, 0};
+static const uint16_t m_da4149b4426ee957[] = {4, 3, 1, 2, 0};
 const ::capnp::_::RawSchema s_da4149b4426ee957 = {
-  0xda4149b4426ee957, b_da4149b4426ee957.words, 37, nullptr, m_da4149b4426ee957,
-  0, 4, nullptr, nullptr, nullptr, { &s_da4149b4426ee957, nullptr, nullptr, 0, 0, nullptr }, false
+  0xda4149b4426ee957, b_da4149b4426ee957.words, 43, nullptr, m_da4149b4426ee957,
+  0, 5, nullptr, nullptr, nullptr, { &s_da4149b4426ee957, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(FaultReason_da4149b4426ee957, da4149b4426ee957);
diff --git a/openpilot/cereal/gen/cpp/custom.capnp.h b/openpilot/cereal/gen/cpp/custom.capnp.h
index 248f36873e..576595bafc 100644
--- a/openpilot/cereal/gen/cpp/custom.capnp.h
+++ b/openpilot/cereal/gen/cpp/custom.capnp.h
@@ -247,6 +247,7 @@ enum class FaultReason_da4149b4426ee957: uint16_t {
   NONE,
   TRANSPORT_PAUSE,
   CRITICAL,
+  AVAILABILITY_PAUSE,
 };
 CAPNP_DECLARE_ENUM(FaultReason, da4149b4426ee957);
 CAPNP_DECLARE_SCHEMA(b63a8514b8adccf9);
@@ -1085,7 +1086,7 @@ struct AolAxisState {
   struct LaneChangeStatusWire;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(fc6241ed8877b611, 6, 2)
+    CAPNP_DECLARE_STRUCT_HEADER(fc6241ed8877b611, 7, 3)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -7049,6 +7050,11 @@ public:
   inline bool hasFaultSessionId() const;
   inline  ::capnp::Text::Reader getFaultSessionId() const;
 
+  inline bool hasIntentProducerSessionId() const;
+  inline  ::capnp::Text::Reader getIntentProducerSessionId() const;
+
+  inline  ::uint64_t getIntentIntegrityEpoch() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -7133,6 +7139,16 @@ public:
   inline void adoptFaultSessionId(::capnp::Orphan< ::capnp::Text>&& value);
   inline ::capnp::Orphan< ::capnp::Text> disownFaultSessionId();
 
+  inline bool hasIntentProducerSessionId();
+  inline  ::capnp::Text::Builder getIntentProducerSessionId();
+  inline void setIntentProducerSessionId( ::capnp::Text::Reader value);
+  inline  ::capnp::Text::Builder initIntentProducerSessionId(unsigned int size);
+  inline void adoptIntentProducerSessionId(::capnp::Orphan< ::capnp::Text>&& value);
+  inline ::capnp::Orphan< ::capnp::Text> disownIntentProducerSessionId();
+
+  inline  ::uint64_t getIntentIntegrityEpoch();
+  inline void setIntentIntegrityEpoch( ::uint64_t value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -17422,6 +17438,54 @@ inline ::capnp::Orphan< ::capnp::Text> AolAxisState::Builder::disownFaultSession
       ::capnp::bounded<1>() * ::capnp::POINTERS));
 }
 
+inline bool AolAxisState::Reader::hasIntentProducerSessionId() const {
+  return !_reader.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS).isNull();
+}
+inline bool AolAxisState::Builder::hasIntentProducerSessionId() {
+  return !_builder.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::Text::Reader AolAxisState::Reader::getIntentProducerSessionId() const {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS));
+}
+inline  ::capnp::Text::Builder AolAxisState::Builder::getIntentProducerSessionId() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS));
+}
+inline void AolAxisState::Builder::setIntentProducerSessionId( ::capnp::Text::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS), value);
+}
+inline  ::capnp::Text::Builder AolAxisState::Builder::initIntentProducerSessionId(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS), size);
+}
+inline void AolAxisState::Builder::adoptIntentProducerSessionId(
+    ::capnp::Orphan< ::capnp::Text>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::Text> AolAxisState::Builder::disownIntentProducerSessionId() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField(
+      ::capnp::bounded<2>() * ::capnp::POINTERS));
+}
+
+inline  ::uint64_t AolAxisState::Reader::getIntentIntegrityEpoch() const {
+  return _reader.getDataField< ::uint64_t>(
+      ::capnp::bounded<6>() * ::capnp::ELEMENTS);
+}
+
+inline  ::uint64_t AolAxisState::Builder::getIntentIntegrityEpoch() {
+  return _builder.getDataField< ::uint64_t>(
+      ::capnp::bounded<6>() * ::capnp::ELEMENTS);
+}
+inline void AolAxisState::Builder::setIntentIntegrityEpoch( ::uint64_t value) {
+  _builder.setDataField< ::uint64_t>(
+      ::capnp::bounded<6>() * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint8_t AolAxisState::SafetyWire::Reader::getKind() const {
   return _reader.getDataField< ::uint8_t>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);
diff --git a/openpilot/cereal/libcereal.a b/openpilot/cereal/libcereal.a
index 49af3db22c0d13786ada8ab89f16e110dce3962a..04575d10d02b5261df4fa620508567855c8c334f 100644
GIT binary patch
delta 20907
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diff --git a/openpilot/cereal/libsocketmaster.a b/openpilot/cereal/libsocketmaster.a
index 2232e9f5b89768c3f3fbadfa1afae177b87e7eb5..cab0fcfa24f9f7cd9760c9887856c1f551c4448d 100644
GIT binary patch
delta 522
zcmYMqJxIb)6vkoiht<7(Ob3FDpq2wQ6ooj1R)e)z4MLDm9;cjiauW;;BD29o|C^gz
z1tmmKG&MEZQVmT_1+}^qbhb16mgjxD&3LyNKRi-hz0<7J6&*M{Q!qcSLZPYbKxjQ&
za0<T_6&(I3h>Dlke-)J+{wY`%FSAE9l^srMSQD?ZPZ+8?j2PGuud%NfsySRG1Di55
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zrHscV3qA21`-!ET$C`x~@jUyhrM$;C3-97Z_D@Sik6*|AKy!w(T$mf+2Du^5ah@CI
NM!3<NelQll`Ui_Ea~%Kx

delta 522
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zln_zS)YOubEln*2H9OSM+0O7=p7$NJ6N7f*^h^!(LA%yebmH(z!Ro9Eg%<LW&~CWo
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Lo4y+dGl`pjUn_F;

diff --git a/openpilot/selfdrive/locationd/models/generated/car.cpp b/openpilot/selfdrive/locationd/models/generated/car.cpp
index 14ccb76cb1..c8db8bb565 100644
--- a/openpilot/selfdrive/locationd/models/generated/car.cpp
+++ b/openpilot/selfdrive/locationd/models/generated/car.cpp
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_3194710944048673507) {
-   out_3194710944048673507[0] = delta_x[0] + nom_x[0];
-   out_3194710944048673507[1] = delta_x[1] + nom_x[1];
-   out_3194710944048673507[2] = delta_x[2] + nom_x[2];
-   out_3194710944048673507[3] = delta_x[3] + nom_x[3];
-   out_3194710944048673507[4] = delta_x[4] + nom_x[4];
-   out_3194710944048673507[5] = delta_x[5] + nom_x[5];
-   out_3194710944048673507[6] = delta_x[6] + nom_x[6];
-   out_3194710944048673507[7] = delta_x[7] + nom_x[7];
-   out_3194710944048673507[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_4839724972372252268) {
+   out_4839724972372252268[0] = delta_x[0] + nom_x[0];
+   out_4839724972372252268[1] = delta_x[1] + nom_x[1];
+   out_4839724972372252268[2] = delta_x[2] + nom_x[2];
+   out_4839724972372252268[3] = delta_x[3] + nom_x[3];
+   out_4839724972372252268[4] = delta_x[4] + nom_x[4];
+   out_4839724972372252268[5] = delta_x[5] + nom_x[5];
+   out_4839724972372252268[6] = delta_x[6] + nom_x[6];
+   out_4839724972372252268[7] = delta_x[7] + nom_x[7];
+   out_4839724972372252268[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_8039664853018696099) {
-   out_8039664853018696099[0] = -nom_x[0] + true_x[0];
-   out_8039664853018696099[1] = -nom_x[1] + true_x[1];
-   out_8039664853018696099[2] = -nom_x[2] + true_x[2];
-   out_8039664853018696099[3] = -nom_x[3] + true_x[3];
-   out_8039664853018696099[4] = -nom_x[4] + true_x[4];
-   out_8039664853018696099[5] = -nom_x[5] + true_x[5];
-   out_8039664853018696099[6] = -nom_x[6] + true_x[6];
-   out_8039664853018696099[7] = -nom_x[7] + true_x[7];
-   out_8039664853018696099[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_8829574174155035621) {
+   out_8829574174155035621[0] = -nom_x[0] + true_x[0];
+   out_8829574174155035621[1] = -nom_x[1] + true_x[1];
+   out_8829574174155035621[2] = -nom_x[2] + true_x[2];
+   out_8829574174155035621[3] = -nom_x[3] + true_x[3];
+   out_8829574174155035621[4] = -nom_x[4] + true_x[4];
+   out_8829574174155035621[5] = -nom_x[5] + true_x[5];
+   out_8829574174155035621[6] = -nom_x[6] + true_x[6];
+   out_8829574174155035621[7] = -nom_x[7] + true_x[7];
+   out_8829574174155035621[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_5587385678613239193) {
-   out_5587385678613239193[0] = 1.0;
-   out_5587385678613239193[1] = 0.0;
-   out_5587385678613239193[2] = 0.0;
-   out_5587385678613239193[3] = 0.0;
-   out_5587385678613239193[4] = 0.0;
-   out_5587385678613239193[5] = 0.0;
-   out_5587385678613239193[6] = 0.0;
-   out_5587385678613239193[7] = 0.0;
-   out_5587385678613239193[8] = 0.0;
-   out_5587385678613239193[9] = 0.0;
-   out_5587385678613239193[10] = 1.0;
-   out_5587385678613239193[11] = 0.0;
-   out_5587385678613239193[12] = 0.0;
-   out_5587385678613239193[13] = 0.0;
-   out_5587385678613239193[14] = 0.0;
-   out_5587385678613239193[15] = 0.0;
-   out_5587385678613239193[16] = 0.0;
-   out_5587385678613239193[17] = 0.0;
-   out_5587385678613239193[18] = 0.0;
-   out_5587385678613239193[19] = 0.0;
-   out_5587385678613239193[20] = 1.0;
-   out_5587385678613239193[21] = 0.0;
-   out_5587385678613239193[22] = 0.0;
-   out_5587385678613239193[23] = 0.0;
-   out_5587385678613239193[24] = 0.0;
-   out_5587385678613239193[25] = 0.0;
-   out_5587385678613239193[26] = 0.0;
-   out_5587385678613239193[27] = 0.0;
-   out_5587385678613239193[28] = 0.0;
-   out_5587385678613239193[29] = 0.0;
-   out_5587385678613239193[30] = 1.0;
-   out_5587385678613239193[31] = 0.0;
-   out_5587385678613239193[32] = 0.0;
-   out_5587385678613239193[33] = 0.0;
-   out_5587385678613239193[34] = 0.0;
-   out_5587385678613239193[35] = 0.0;
-   out_5587385678613239193[36] = 0.0;
-   out_5587385678613239193[37] = 0.0;
-   out_5587385678613239193[38] = 0.0;
-   out_5587385678613239193[39] = 0.0;
-   out_5587385678613239193[40] = 1.0;
-   out_5587385678613239193[41] = 0.0;
-   out_5587385678613239193[42] = 0.0;
-   out_5587385678613239193[43] = 0.0;
-   out_5587385678613239193[44] = 0.0;
-   out_5587385678613239193[45] = 0.0;
-   out_5587385678613239193[46] = 0.0;
-   out_5587385678613239193[47] = 0.0;
-   out_5587385678613239193[48] = 0.0;
-   out_5587385678613239193[49] = 0.0;
-   out_5587385678613239193[50] = 1.0;
-   out_5587385678613239193[51] = 0.0;
-   out_5587385678613239193[52] = 0.0;
-   out_5587385678613239193[53] = 0.0;
-   out_5587385678613239193[54] = 0.0;
-   out_5587385678613239193[55] = 0.0;
-   out_5587385678613239193[56] = 0.0;
-   out_5587385678613239193[57] = 0.0;
-   out_5587385678613239193[58] = 0.0;
-   out_5587385678613239193[59] = 0.0;
-   out_5587385678613239193[60] = 1.0;
-   out_5587385678613239193[61] = 0.0;
-   out_5587385678613239193[62] = 0.0;
-   out_5587385678613239193[63] = 0.0;
-   out_5587385678613239193[64] = 0.0;
-   out_5587385678613239193[65] = 0.0;
-   out_5587385678613239193[66] = 0.0;
-   out_5587385678613239193[67] = 0.0;
-   out_5587385678613239193[68] = 0.0;
-   out_5587385678613239193[69] = 0.0;
-   out_5587385678613239193[70] = 1.0;
-   out_5587385678613239193[71] = 0.0;
-   out_5587385678613239193[72] = 0.0;
-   out_5587385678613239193[73] = 0.0;
-   out_5587385678613239193[74] = 0.0;
-   out_5587385678613239193[75] = 0.0;
-   out_5587385678613239193[76] = 0.0;
-   out_5587385678613239193[77] = 0.0;
-   out_5587385678613239193[78] = 0.0;
-   out_5587385678613239193[79] = 0.0;
-   out_5587385678613239193[80] = 1.0;
+void H_mod_fun(double *state, double *out_8175464074684333633) {
+   out_8175464074684333633[0] = 1.0;
+   out_8175464074684333633[1] = 0.0;
+   out_8175464074684333633[2] = 0.0;
+   out_8175464074684333633[3] = 0.0;
+   out_8175464074684333633[4] = 0.0;
+   out_8175464074684333633[5] = 0.0;
+   out_8175464074684333633[6] = 0.0;
+   out_8175464074684333633[7] = 0.0;
+   out_8175464074684333633[8] = 0.0;
+   out_8175464074684333633[9] = 0.0;
+   out_8175464074684333633[10] = 1.0;
+   out_8175464074684333633[11] = 0.0;
+   out_8175464074684333633[12] = 0.0;
+   out_8175464074684333633[13] = 0.0;
+   out_8175464074684333633[14] = 0.0;
+   out_8175464074684333633[15] = 0.0;
+   out_8175464074684333633[16] = 0.0;
+   out_8175464074684333633[17] = 0.0;
+   out_8175464074684333633[18] = 0.0;
+   out_8175464074684333633[19] = 0.0;
+   out_8175464074684333633[20] = 1.0;
+   out_8175464074684333633[21] = 0.0;
+   out_8175464074684333633[22] = 0.0;
+   out_8175464074684333633[23] = 0.0;
+   out_8175464074684333633[24] = 0.0;
+   out_8175464074684333633[25] = 0.0;
+   out_8175464074684333633[26] = 0.0;
+   out_8175464074684333633[27] = 0.0;
+   out_8175464074684333633[28] = 0.0;
+   out_8175464074684333633[29] = 0.0;
+   out_8175464074684333633[30] = 1.0;
+   out_8175464074684333633[31] = 0.0;
+   out_8175464074684333633[32] = 0.0;
+   out_8175464074684333633[33] = 0.0;
+   out_8175464074684333633[34] = 0.0;
+   out_8175464074684333633[35] = 0.0;
+   out_8175464074684333633[36] = 0.0;
+   out_8175464074684333633[37] = 0.0;
+   out_8175464074684333633[38] = 0.0;
+   out_8175464074684333633[39] = 0.0;
+   out_8175464074684333633[40] = 1.0;
+   out_8175464074684333633[41] = 0.0;
+   out_8175464074684333633[42] = 0.0;
+   out_8175464074684333633[43] = 0.0;
+   out_8175464074684333633[44] = 0.0;
+   out_8175464074684333633[45] = 0.0;
+   out_8175464074684333633[46] = 0.0;
+   out_8175464074684333633[47] = 0.0;
+   out_8175464074684333633[48] = 0.0;
+   out_8175464074684333633[49] = 0.0;
+   out_8175464074684333633[50] = 1.0;
+   out_8175464074684333633[51] = 0.0;
+   out_8175464074684333633[52] = 0.0;
+   out_8175464074684333633[53] = 0.0;
+   out_8175464074684333633[54] = 0.0;
+   out_8175464074684333633[55] = 0.0;
+   out_8175464074684333633[56] = 0.0;
+   out_8175464074684333633[57] = 0.0;
+   out_8175464074684333633[58] = 0.0;
+   out_8175464074684333633[59] = 0.0;
+   out_8175464074684333633[60] = 1.0;
+   out_8175464074684333633[61] = 0.0;
+   out_8175464074684333633[62] = 0.0;
+   out_8175464074684333633[63] = 0.0;
+   out_8175464074684333633[64] = 0.0;
+   out_8175464074684333633[65] = 0.0;
+   out_8175464074684333633[66] = 0.0;
+   out_8175464074684333633[67] = 0.0;
+   out_8175464074684333633[68] = 0.0;
+   out_8175464074684333633[69] = 0.0;
+   out_8175464074684333633[70] = 1.0;
+   out_8175464074684333633[71] = 0.0;
+   out_8175464074684333633[72] = 0.0;
+   out_8175464074684333633[73] = 0.0;
+   out_8175464074684333633[74] = 0.0;
+   out_8175464074684333633[75] = 0.0;
+   out_8175464074684333633[76] = 0.0;
+   out_8175464074684333633[77] = 0.0;
+   out_8175464074684333633[78] = 0.0;
+   out_8175464074684333633[79] = 0.0;
+   out_8175464074684333633[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_7292828168458319052) {
-   out_7292828168458319052[0] = state[0];
-   out_7292828168458319052[1] = state[1];
-   out_7292828168458319052[2] = state[2];
-   out_7292828168458319052[3] = state[3];
-   out_7292828168458319052[4] = state[4];
-   out_7292828168458319052[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_7292828168458319052[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
-   out_7292828168458319052[7] = state[7];
-   out_7292828168458319052[8] = state[8];
+void f_fun(double *state, double dt, double *out_6716121585907694027) {
+   out_6716121585907694027[0] = state[0];
+   out_6716121585907694027[1] = state[1];
+   out_6716121585907694027[2] = state[2];
+   out_6716121585907694027[3] = state[3];
+   out_6716121585907694027[4] = state[4];
+   out_6716121585907694027[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_6716121585907694027[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_6716121585907694027[7] = state[7];
+   out_6716121585907694027[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_2978169847506375272) {
-   out_2978169847506375272[0] = 1;
-   out_2978169847506375272[1] = 0;
-   out_2978169847506375272[2] = 0;
-   out_2978169847506375272[3] = 0;
-   out_2978169847506375272[4] = 0;
-   out_2978169847506375272[5] = 0;
-   out_2978169847506375272[6] = 0;
-   out_2978169847506375272[7] = 0;
-   out_2978169847506375272[8] = 0;
-   out_2978169847506375272[9] = 0;
-   out_2978169847506375272[10] = 1;
-   out_2978169847506375272[11] = 0;
-   out_2978169847506375272[12] = 0;
-   out_2978169847506375272[13] = 0;
-   out_2978169847506375272[14] = 0;
-   out_2978169847506375272[15] = 0;
-   out_2978169847506375272[16] = 0;
-   out_2978169847506375272[17] = 0;
-   out_2978169847506375272[18] = 0;
-   out_2978169847506375272[19] = 0;
-   out_2978169847506375272[20] = 1;
-   out_2978169847506375272[21] = 0;
-   out_2978169847506375272[22] = 0;
-   out_2978169847506375272[23] = 0;
-   out_2978169847506375272[24] = 0;
-   out_2978169847506375272[25] = 0;
-   out_2978169847506375272[26] = 0;
-   out_2978169847506375272[27] = 0;
-   out_2978169847506375272[28] = 0;
-   out_2978169847506375272[29] = 0;
-   out_2978169847506375272[30] = 1;
-   out_2978169847506375272[31] = 0;
-   out_2978169847506375272[32] = 0;
-   out_2978169847506375272[33] = 0;
-   out_2978169847506375272[34] = 0;
-   out_2978169847506375272[35] = 0;
-   out_2978169847506375272[36] = 0;
-   out_2978169847506375272[37] = 0;
-   out_2978169847506375272[38] = 0;
-   out_2978169847506375272[39] = 0;
-   out_2978169847506375272[40] = 1;
-   out_2978169847506375272[41] = 0;
-   out_2978169847506375272[42] = 0;
-   out_2978169847506375272[43] = 0;
-   out_2978169847506375272[44] = 0;
-   out_2978169847506375272[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
-   out_2978169847506375272[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_2978169847506375272[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2978169847506375272[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2978169847506375272[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
-   out_2978169847506375272[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_2978169847506375272[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_2978169847506375272[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2978169847506375272[53] = -9.8100000000000005*dt;
-   out_2978169847506375272[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
-   out_2978169847506375272[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_2978169847506375272[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2978169847506375272[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2978169847506375272[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
-   out_2978169847506375272[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_2978169847506375272[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
-   out_2978169847506375272[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2978169847506375272[62] = 0;
-   out_2978169847506375272[63] = 0;
-   out_2978169847506375272[64] = 0;
-   out_2978169847506375272[65] = 0;
-   out_2978169847506375272[66] = 0;
-   out_2978169847506375272[67] = 0;
-   out_2978169847506375272[68] = 0;
-   out_2978169847506375272[69] = 0;
-   out_2978169847506375272[70] = 1;
-   out_2978169847506375272[71] = 0;
-   out_2978169847506375272[72] = 0;
-   out_2978169847506375272[73] = 0;
-   out_2978169847506375272[74] = 0;
-   out_2978169847506375272[75] = 0;
-   out_2978169847506375272[76] = 0;
-   out_2978169847506375272[77] = 0;
-   out_2978169847506375272[78] = 0;
-   out_2978169847506375272[79] = 0;
-   out_2978169847506375272[80] = 1;
+void F_fun(double *state, double dt, double *out_3872222255603432155) {
+   out_3872222255603432155[0] = 1;
+   out_3872222255603432155[1] = 0;
+   out_3872222255603432155[2] = 0;
+   out_3872222255603432155[3] = 0;
+   out_3872222255603432155[4] = 0;
+   out_3872222255603432155[5] = 0;
+   out_3872222255603432155[6] = 0;
+   out_3872222255603432155[7] = 0;
+   out_3872222255603432155[8] = 0;
+   out_3872222255603432155[9] = 0;
+   out_3872222255603432155[10] = 1;
+   out_3872222255603432155[11] = 0;
+   out_3872222255603432155[12] = 0;
+   out_3872222255603432155[13] = 0;
+   out_3872222255603432155[14] = 0;
+   out_3872222255603432155[15] = 0;
+   out_3872222255603432155[16] = 0;
+   out_3872222255603432155[17] = 0;
+   out_3872222255603432155[18] = 0;
+   out_3872222255603432155[19] = 0;
+   out_3872222255603432155[20] = 1;
+   out_3872222255603432155[21] = 0;
+   out_3872222255603432155[22] = 0;
+   out_3872222255603432155[23] = 0;
+   out_3872222255603432155[24] = 0;
+   out_3872222255603432155[25] = 0;
+   out_3872222255603432155[26] = 0;
+   out_3872222255603432155[27] = 0;
+   out_3872222255603432155[28] = 0;
+   out_3872222255603432155[29] = 0;
+   out_3872222255603432155[30] = 1;
+   out_3872222255603432155[31] = 0;
+   out_3872222255603432155[32] = 0;
+   out_3872222255603432155[33] = 0;
+   out_3872222255603432155[34] = 0;
+   out_3872222255603432155[35] = 0;
+   out_3872222255603432155[36] = 0;
+   out_3872222255603432155[37] = 0;
+   out_3872222255603432155[38] = 0;
+   out_3872222255603432155[39] = 0;
+   out_3872222255603432155[40] = 1;
+   out_3872222255603432155[41] = 0;
+   out_3872222255603432155[42] = 0;
+   out_3872222255603432155[43] = 0;
+   out_3872222255603432155[44] = 0;
+   out_3872222255603432155[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_3872222255603432155[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_3872222255603432155[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3872222255603432155[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3872222255603432155[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_3872222255603432155[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_3872222255603432155[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_3872222255603432155[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3872222255603432155[53] = -9.8100000000000005*dt;
+   out_3872222255603432155[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_3872222255603432155[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_3872222255603432155[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3872222255603432155[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3872222255603432155[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_3872222255603432155[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_3872222255603432155[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_3872222255603432155[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3872222255603432155[62] = 0;
+   out_3872222255603432155[63] = 0;
+   out_3872222255603432155[64] = 0;
+   out_3872222255603432155[65] = 0;
+   out_3872222255603432155[66] = 0;
+   out_3872222255603432155[67] = 0;
+   out_3872222255603432155[68] = 0;
+   out_3872222255603432155[69] = 0;
+   out_3872222255603432155[70] = 1;
+   out_3872222255603432155[71] = 0;
+   out_3872222255603432155[72] = 0;
+   out_3872222255603432155[73] = 0;
+   out_3872222255603432155[74] = 0;
+   out_3872222255603432155[75] = 0;
+   out_3872222255603432155[76] = 0;
+   out_3872222255603432155[77] = 0;
+   out_3872222255603432155[78] = 0;
+   out_3872222255603432155[79] = 0;
+   out_3872222255603432155[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_4652885364343750448) {
-   out_4652885364343750448[0] = state[6];
+void h_25(double *state, double *unused, double *out_2325222996689449646) {
+   out_2325222996689449646[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_1635374662770778876) {
-   out_1635374662770778876[0] = 0;
-   out_1635374662770778876[1] = 0;
-   out_1635374662770778876[2] = 0;
-   out_1635374662770778876[3] = 0;
-   out_1635374662770778876[4] = 0;
-   out_1635374662770778876[5] = 0;
-   out_1635374662770778876[6] = 1;
-   out_1635374662770778876[7] = 0;
-   out_1635374662770778876[8] = 0;
+void H_25(double *state, double *unused, double *out_3271772249499668793) {
+   out_3271772249499668793[0] = 0;
+   out_3271772249499668793[1] = 0;
+   out_3271772249499668793[2] = 0;
+   out_3271772249499668793[3] = 0;
+   out_3271772249499668793[4] = 0;
+   out_3271772249499668793[5] = 0;
+   out_3271772249499668793[6] = 1;
+   out_3271772249499668793[7] = 0;
+   out_3271772249499668793[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_1850369176656129099) {
-   out_1850369176656129099[0] = state[4];
-   out_1850369176656129099[1] = state[5];
+void h_24(double *state, double *unused, double *out_6848076894841716204) {
+   out_6848076894841716204[0] = state[4];
+   out_6848076894841716204[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_537274936234720690) {
-   out_537274936234720690[0] = 0;
-   out_537274936234720690[1] = 0;
-   out_537274936234720690[2] = 0;
-   out_537274936234720690[3] = 0;
-   out_537274936234720690[4] = 1;
-   out_537274936234720690[5] = 0;
-   out_537274936234720690[6] = 0;
-   out_537274936234720690[7] = 0;
-   out_537274936234720690[8] = 0;
-   out_537274936234720690[9] = 0;
-   out_537274936234720690[10] = 0;
-   out_537274936234720690[11] = 0;
-   out_537274936234720690[12] = 0;
-   out_537274936234720690[13] = 0;
-   out_537274936234720690[14] = 1;
-   out_537274936234720690[15] = 0;
-   out_537274936234720690[16] = 0;
-   out_537274936234720690[17] = 0;
+void H_24(double *state, double *unused, double *out_3303799557091849308) {
+   out_3303799557091849308[0] = 0;
+   out_3303799557091849308[1] = 0;
+   out_3303799557091849308[2] = 0;
+   out_3303799557091849308[3] = 0;
+   out_3303799557091849308[4] = 1;
+   out_3303799557091849308[5] = 0;
+   out_3303799557091849308[6] = 0;
+   out_3303799557091849308[7] = 0;
+   out_3303799557091849308[8] = 0;
+   out_3303799557091849308[9] = 0;
+   out_3303799557091849308[10] = 0;
+   out_3303799557091849308[11] = 0;
+   out_3303799557091849308[12] = 0;
+   out_3303799557091849308[13] = 0;
+   out_3303799557091849308[14] = 1;
+   out_3303799557091849308[15] = 0;
+   out_3303799557091849308[16] = 0;
+   out_3303799557091849308[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_3986992112374791436) {
-   out_3986992112374791436[0] = state[4];
+void h_30(double *state, double *unused, double *out_8228581582135578611) {
+   out_8228581582135578611[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_4153707621278027503) {
-   out_4153707621278027503[0] = 0;
-   out_4153707621278027503[1] = 0;
-   out_4153707621278027503[2] = 0;
-   out_4153707621278027503[3] = 0;
-   out_4153707621278027503[4] = 1;
-   out_4153707621278027503[5] = 0;
-   out_4153707621278027503[6] = 0;
-   out_4153707621278027503[7] = 0;
-   out_4153707621278027503[8] = 0;
+void H_30(double *state, double *unused, double *out_3644918091991947962) {
+   out_3644918091991947962[0] = 0;
+   out_3644918091991947962[1] = 0;
+   out_3644918091991947962[2] = 0;
+   out_3644918091991947962[3] = 0;
+   out_3644918091991947962[4] = 1;
+   out_3644918091991947962[5] = 0;
+   out_3644918091991947962[6] = 0;
+   out_3644918091991947962[7] = 0;
+   out_3644918091991947962[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_3448151322053909377) {
-   out_3448151322053909377[0] = state[7];
+void h_26(double *state, double *unused, double *out_7405610388304119622) {
+   out_7405610388304119622[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_4939900632531579477) {
-   out_4939900632531579477[0] = 0;
-   out_4939900632531579477[1] = 0;
-   out_4939900632531579477[2] = 0;
-   out_4939900632531579477[3] = 0;
-   out_4939900632531579477[4] = 0;
-   out_4939900632531579477[5] = 0;
-   out_4939900632531579477[6] = 0;
-   out_4939900632531579477[7] = 1;
-   out_4939900632531579477[8] = 0;
+void H_26(double *state, double *unused, double *out_7013275568373725017) {
+   out_7013275568373725017[0] = 0;
+   out_7013275568373725017[1] = 0;
+   out_7013275568373725017[2] = 0;
+   out_7013275568373725017[3] = 0;
+   out_7013275568373725017[4] = 0;
+   out_7013275568373725017[5] = 0;
+   out_7013275568373725017[6] = 0;
+   out_7013275568373725017[7] = 1;
+   out_7013275568373725017[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_4773315296925324726) {
-   out_4773315296925324726[0] = state[3];
+void h_27(double *state, double *unused, double *out_2676450270971395999) {
+   out_2676450270971395999[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_6377301692461970720) {
-   out_6377301692461970720[0] = 0;
-   out_6377301692461970720[1] = 0;
-   out_6377301692461970720[2] = 0;
-   out_6377301692461970720[3] = 1;
-   out_6377301692461970720[4] = 0;
-   out_6377301692461970720[5] = 0;
-   out_6377301692461970720[6] = 0;
-   out_6377301692461970720[7] = 0;
-   out_6377301692461970720[8] = 0;
+void H_27(double *state, double *unused, double *out_5575874508443333774) {
+   out_5575874508443333774[0] = 0;
+   out_5575874508443333774[1] = 0;
+   out_5575874508443333774[2] = 0;
+   out_5575874508443333774[3] = 1;
+   out_5575874508443333774[4] = 0;
+   out_5575874508443333774[5] = 0;
+   out_5575874508443333774[6] = 0;
+   out_5575874508443333774[7] = 0;
+   out_5575874508443333774[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_4930501965276453871) {
-   out_4930501965276453871[0] = state[1];
+void h_29(double *state, double *unused, double *out_1421853027307975865) {
+   out_1421853027307975865[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_4663938965592419687) {
-   out_4663938965592419687[0] = 0;
-   out_4663938965592419687[1] = 1;
-   out_4663938965592419687[2] = 0;
-   out_4663938965592419687[3] = 0;
-   out_4663938965592419687[4] = 0;
-   out_4663938965592419687[5] = 0;
-   out_4663938965592419687[6] = 0;
-   out_4663938965592419687[7] = 0;
-   out_4663938965592419687[8] = 0;
+void H_29(double *state, double *unused, double *out_7289237235312884807) {
+   out_7289237235312884807[0] = 0;
+   out_7289237235312884807[1] = 1;
+   out_7289237235312884807[2] = 0;
+   out_7289237235312884807[3] = 0;
+   out_7289237235312884807[4] = 0;
+   out_7289237235312884807[5] = 0;
+   out_7289237235312884807[6] = 0;
+   out_7289237235312884807[7] = 0;
+   out_7289237235312884807[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_7810101348369657411) {
-   out_7810101348369657411[0] = state[0];
+void h_28(double *state, double *unused, double *out_6305518901035444766) {
+   out_6305518901035444766[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_418460051477110887) {
-   out_418460051477110887[0] = 1;
-   out_418460051477110887[1] = 0;
-   out_418460051477110887[2] = 0;
-   out_418460051477110887[3] = 0;
-   out_418460051477110887[4] = 0;
-   out_418460051477110887[5] = 0;
-   out_418460051477110887[6] = 0;
-   out_418460051477110887[7] = 0;
-   out_418460051477110887[8] = 0;
+void H_28(double *state, double *unused, double *out_5325606963747558556) {
+   out_5325606963747558556[0] = 1;
+   out_5325606963747558556[1] = 0;
+   out_5325606963747558556[2] = 0;
+   out_5325606963747558556[3] = 0;
+   out_5325606963747558556[4] = 0;
+   out_5325606963747558556[5] = 0;
+   out_5325606963747558556[6] = 0;
+   out_5325606963747558556[7] = 0;
+   out_5325606963747558556[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_9129956871281942907) {
-   out_9129956871281942907[0] = state[8];
+void h_31(double *state, double *unused, double *out_2600417058973955535) {
+   out_2600417058973955535[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_2732336758336628824) {
-   out_2732336758336628824[0] = 0;
-   out_2732336758336628824[1] = 0;
-   out_2732336758336628824[2] = 0;
-   out_2732336758336628824[3] = 0;
-   out_2732336758336628824[4] = 0;
-   out_2732336758336628824[5] = 0;
-   out_2732336758336628824[6] = 0;
-   out_2732336758336628824[7] = 0;
-   out_2732336758336628824[8] = 1;
+void H_31(double *state, double *unused, double *out_3241126287622708365) {
+   out_3241126287622708365[0] = 0;
+   out_3241126287622708365[1] = 0;
+   out_3241126287622708365[2] = 0;
+   out_3241126287622708365[3] = 0;
+   out_3241126287622708365[4] = 0;
+   out_3241126287622708365[5] = 0;
+   out_3241126287622708365[6] = 0;
+   out_3241126287622708365[7] = 0;
+   out_3241126287622708365[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
   update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
 }
-void car_err_fun(double *nom_x, double *delta_x, double *out_3194710944048673507) {
-  err_fun(nom_x, delta_x, out_3194710944048673507);
+void car_err_fun(double *nom_x, double *delta_x, double *out_4839724972372252268) {
+  err_fun(nom_x, delta_x, out_4839724972372252268);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8039664853018696099) {
-  inv_err_fun(nom_x, true_x, out_8039664853018696099);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8829574174155035621) {
+  inv_err_fun(nom_x, true_x, out_8829574174155035621);
 }
-void car_H_mod_fun(double *state, double *out_5587385678613239193) {
-  H_mod_fun(state, out_5587385678613239193);
+void car_H_mod_fun(double *state, double *out_8175464074684333633) {
+  H_mod_fun(state, out_8175464074684333633);
 }
-void car_f_fun(double *state, double dt, double *out_7292828168458319052) {
-  f_fun(state,  dt, out_7292828168458319052);
+void car_f_fun(double *state, double dt, double *out_6716121585907694027) {
+  f_fun(state,  dt, out_6716121585907694027);
 }
-void car_F_fun(double *state, double dt, double *out_2978169847506375272) {
-  F_fun(state,  dt, out_2978169847506375272);
+void car_F_fun(double *state, double dt, double *out_3872222255603432155) {
+  F_fun(state,  dt, out_3872222255603432155);
 }
-void car_h_25(double *state, double *unused, double *out_4652885364343750448) {
-  h_25(state, unused, out_4652885364343750448);
+void car_h_25(double *state, double *unused, double *out_2325222996689449646) {
+  h_25(state, unused, out_2325222996689449646);
 }
-void car_H_25(double *state, double *unused, double *out_1635374662770778876) {
-  H_25(state, unused, out_1635374662770778876);
+void car_H_25(double *state, double *unused, double *out_3271772249499668793) {
+  H_25(state, unused, out_3271772249499668793);
 }
-void car_h_24(double *state, double *unused, double *out_1850369176656129099) {
-  h_24(state, unused, out_1850369176656129099);
+void car_h_24(double *state, double *unused, double *out_6848076894841716204) {
+  h_24(state, unused, out_6848076894841716204);
 }
-void car_H_24(double *state, double *unused, double *out_537274936234720690) {
-  H_24(state, unused, out_537274936234720690);
+void car_H_24(double *state, double *unused, double *out_3303799557091849308) {
+  H_24(state, unused, out_3303799557091849308);
 }
-void car_h_30(double *state, double *unused, double *out_3986992112374791436) {
-  h_30(state, unused, out_3986992112374791436);
+void car_h_30(double *state, double *unused, double *out_8228581582135578611) {
+  h_30(state, unused, out_8228581582135578611);
 }
-void car_H_30(double *state, double *unused, double *out_4153707621278027503) {
-  H_30(state, unused, out_4153707621278027503);
+void car_H_30(double *state, double *unused, double *out_3644918091991947962) {
+  H_30(state, unused, out_3644918091991947962);
 }
-void car_h_26(double *state, double *unused, double *out_3448151322053909377) {
-  h_26(state, unused, out_3448151322053909377);
+void car_h_26(double *state, double *unused, double *out_7405610388304119622) {
+  h_26(state, unused, out_7405610388304119622);
 }
-void car_H_26(double *state, double *unused, double *out_4939900632531579477) {
-  H_26(state, unused, out_4939900632531579477);
+void car_H_26(double *state, double *unused, double *out_7013275568373725017) {
+  H_26(state, unused, out_7013275568373725017);
 }
-void car_h_27(double *state, double *unused, double *out_4773315296925324726) {
-  h_27(state, unused, out_4773315296925324726);
+void car_h_27(double *state, double *unused, double *out_2676450270971395999) {
+  h_27(state, unused, out_2676450270971395999);
 }
-void car_H_27(double *state, double *unused, double *out_6377301692461970720) {
-  H_27(state, unused, out_6377301692461970720);
+void car_H_27(double *state, double *unused, double *out_5575874508443333774) {
+  H_27(state, unused, out_5575874508443333774);
 }
-void car_h_29(double *state, double *unused, double *out_4930501965276453871) {
-  h_29(state, unused, out_4930501965276453871);
+void car_h_29(double *state, double *unused, double *out_1421853027307975865) {
+  h_29(state, unused, out_1421853027307975865);
 }
-void car_H_29(double *state, double *unused, double *out_4663938965592419687) {
-  H_29(state, unused, out_4663938965592419687);
+void car_H_29(double *state, double *unused, double *out_7289237235312884807) {
+  H_29(state, unused, out_7289237235312884807);
 }
-void car_h_28(double *state, double *unused, double *out_7810101348369657411) {
-  h_28(state, unused, out_7810101348369657411);
+void car_h_28(double *state, double *unused, double *out_6305518901035444766) {
+  h_28(state, unused, out_6305518901035444766);
 }
-void car_H_28(double *state, double *unused, double *out_418460051477110887) {
-  H_28(state, unused, out_418460051477110887);
+void car_H_28(double *state, double *unused, double *out_5325606963747558556) {
+  H_28(state, unused, out_5325606963747558556);
 }
-void car_h_31(double *state, double *unused, double *out_9129956871281942907) {
-  h_31(state, unused, out_9129956871281942907);
+void car_h_31(double *state, double *unused, double *out_2600417058973955535) {
+  h_31(state, unused, out_2600417058973955535);
 }
-void car_H_31(double *state, double *unused, double *out_2732336758336628824) {
-  H_31(state, unused, out_2732336758336628824);
+void car_H_31(double *state, double *unused, double *out_3241126287622708365) {
+  H_31(state, unused, out_3241126287622708365);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);
diff --git a/openpilot/selfdrive/locationd/models/generated/car.h b/openpilot/selfdrive/locationd/models/generated/car.h
index 549d5b35c7..16ed5c751f 100644
--- a/openpilot/selfdrive/locationd/models/generated/car.h
+++ b/openpilot/selfdrive/locationd/models/generated/car.h
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_3194710944048673507);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8039664853018696099);
-void car_H_mod_fun(double *state, double *out_5587385678613239193);
-void car_f_fun(double *state, double dt, double *out_7292828168458319052);
-void car_F_fun(double *state, double dt, double *out_2978169847506375272);
-void car_h_25(double *state, double *unused, double *out_4652885364343750448);
-void car_H_25(double *state, double *unused, double *out_1635374662770778876);
-void car_h_24(double *state, double *unused, double *out_1850369176656129099);
-void car_H_24(double *state, double *unused, double *out_537274936234720690);
-void car_h_30(double *state, double *unused, double *out_3986992112374791436);
-void car_H_30(double *state, double *unused, double *out_4153707621278027503);
-void car_h_26(double *state, double *unused, double *out_3448151322053909377);
-void car_H_26(double *state, double *unused, double *out_4939900632531579477);
-void car_h_27(double *state, double *unused, double *out_4773315296925324726);
-void car_H_27(double *state, double *unused, double *out_6377301692461970720);
-void car_h_29(double *state, double *unused, double *out_4930501965276453871);
-void car_H_29(double *state, double *unused, double *out_4663938965592419687);
-void car_h_28(double *state, double *unused, double *out_7810101348369657411);
-void car_H_28(double *state, double *unused, double *out_418460051477110887);
-void car_h_31(double *state, double *unused, double *out_9129956871281942907);
-void car_H_31(double *state, double *unused, double *out_2732336758336628824);
+void car_err_fun(double *nom_x, double *delta_x, double *out_4839724972372252268);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8829574174155035621);
+void car_H_mod_fun(double *state, double *out_8175464074684333633);
+void car_f_fun(double *state, double dt, double *out_6716121585907694027);
+void car_F_fun(double *state, double dt, double *out_3872222255603432155);
+void car_h_25(double *state, double *unused, double *out_2325222996689449646);
+void car_H_25(double *state, double *unused, double *out_3271772249499668793);
+void car_h_24(double *state, double *unused, double *out_6848076894841716204);
+void car_H_24(double *state, double *unused, double *out_3303799557091849308);
+void car_h_30(double *state, double *unused, double *out_8228581582135578611);
+void car_H_30(double *state, double *unused, double *out_3644918091991947962);
+void car_h_26(double *state, double *unused, double *out_7405610388304119622);
+void car_H_26(double *state, double *unused, double *out_7013275568373725017);
+void car_h_27(double *state, double *unused, double *out_2676450270971395999);
+void car_H_27(double *state, double *unused, double *out_5575874508443333774);
+void car_h_29(double *state, double *unused, double *out_1421853027307975865);
+void car_H_29(double *state, double *unused, double *out_7289237235312884807);
+void car_h_28(double *state, double *unused, double *out_6305518901035444766);
+void car_H_28(double *state, double *unused, double *out_5325606963747558556);
+void car_h_31(double *state, double *unused, double *out_2600417058973955535);
+void car_H_31(double *state, double *unused, double *out_3241126287622708365);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);
diff --git a/openpilot/selfdrive/locationd/models/generated/libcar.so b/openpilot/selfdrive/locationd/models/generated/libcar.so
index 3ee108f4bc2c764d33d65025757188151d17c4b9..d1fc58ff0ba4d4d392be81ab451f5d9973471b65 100755
GIT binary patch
delta 15581
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diff --git a/openpilot/selfdrive/locationd/models/generated/libpose.so b/openpilot/selfdrive/locationd/models/generated/libpose.so
index 976f53c75bd6afd4df1264ee825c2d0f2975c390..894d8eaf08a1db1b86e51efec219fa2d78db3784 100755
GIT binary patch
delta 1738
zcmX}sS9ldg7=U3nB!SQpasq+S5(qgEAk6OU&dvrkCJ0t6Sg@ej8!D(lu@N;YAV`9U
z2kVLj#fk-MG!YBNiWmg3frSV}rNoAf@8`mc_q*8Le`jW&=bWasTe6z4e7%!5dTVOk
z{FT*}6Q(TOoV{c5#!0pFifh}PS#6F;LkFZI1DWWEPRK%MbU{~iLw95&2R)FB1oF@m
zy^xRI=z{|EML+b%01QMSiZBR+QH&udK@vkT45b*35g3UwjDms-4;nrK7=*BhP>#{q
z7yDs<RNw$qq6%YhAjV=G4#L4W1c%}<9FFlg0!QK~9E}M$2FKz!9FK`O0Vm=loQz30
z1*c*%PQ&Rq183qaoQ-pEF3!XGxByddAuhtjn2Kq*1efA6RAV|W#}$}?D{&RB#x=MW
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z_hShjz=L=Q4`V4F!J}A)$M86wz>|0iPh&Zr!LxV{&tnB%z>9bZFXI)wiUz!f*U^Y3
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zzQuR=9zS3+TJa;cU@Nwv4L{*${DSS+ft}cecKnLp@H_s%pV*DR@HhU!zxZ!1zx_H$
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kN!70!Us2c4Jjx+T;z~S;miUrDVkDu&I*kp@k(0h;4{^!U>;M1&

delta 1738
zcmX}sX<QXm7=ZBx0mTjEq9|^l$W_GanKLtI&d@?)+G=GR?M8c9X{BYGR90$QU}d+(
zy4hmcYKyJdrIjc%Gc2RkHZmzqDa$sW*AIR8KObi1Y%{-mo7Qj2X~K#PPC;!(#lpnu
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zrr;FR;#8c5({TpQ#925S=ippS#d$a%7hoEu<3e17i!lQ;aS1NPEL?`maRsi#RhW%B
zT#ajRE#}}lT#p+t7xOS5H(~)6;wIdTdNg1WZo#d%4U2I*lDGqR;x62cCAbIoB8B^~
z6!+r+Jcx&|3=iWGEXSjG43FapJc*~U0#D-^Jd5YB63^oWyoi_ZGG0L=R^e5o(S+CV
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zi|_C~en2~Z#3uZN&FH|-_yt?A6~AH|wxbij;dku7ANUhH@fZHaKlm5_E#S9b4@rik
zizHK$CCQd_m2{KjNV-dUNP0?oNqS3iC3%uQl6*-_QXuIo=_e_a^p^~f6iEh321y1>
zhDe4=iX|nIVUppJQppHOnUm&U!kJec^W0Fmp7xZly-@kS_Wk6diR;ECr?<{7N-a;6
zJ5|Zzm9uiwYC_zZzbqC+*5hHTb-<{|M8>2x)>Jx)^v=z3r!6~XtkSNwOr_k&1ilKR
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zd!er*HfdFAt=vsDF*-Bmd0K@wG?A~F#ww$t)Ykt;o5*#o%c_y9TorlNGpW1`8Lc|w
zPFB9PN)BOt&kt0jJ#A7-Ztq^&xJKDP2OKBznBP^lzK&sJq-2z&TryfxAsOSO>pBz8
z;@0uZ>4m%jmp5Up(d=&zIgr&sz*`AJ%f`bn@&b4Fb-n<{^n9y49%Vsml1_VdS+b#d
gQdNCp%UFjfi7U|(PvT1giIId7>!cf7A}4d{E(uiB8vp<R

diff --git a/openpilot/selfdrive/locationd/models/generated/pose.cpp b/openpilot/selfdrive/locationd/models/generated/pose.cpp
index 5ca3a350f5..e471f51835 100644
--- a/openpilot/selfdrive/locationd/models/generated/pose.cpp
+++ b/openpilot/selfdrive/locationd/models/generated/pose.cpp
@@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_5983304822532396966) {
-   out_5983304822532396966[0] = delta_x[0] + nom_x[0];
-   out_5983304822532396966[1] = delta_x[1] + nom_x[1];
-   out_5983304822532396966[2] = delta_x[2] + nom_x[2];
-   out_5983304822532396966[3] = delta_x[3] + nom_x[3];
-   out_5983304822532396966[4] = delta_x[4] + nom_x[4];
-   out_5983304822532396966[5] = delta_x[5] + nom_x[5];
-   out_5983304822532396966[6] = delta_x[6] + nom_x[6];
-   out_5983304822532396966[7] = delta_x[7] + nom_x[7];
-   out_5983304822532396966[8] = delta_x[8] + nom_x[8];
-   out_5983304822532396966[9] = delta_x[9] + nom_x[9];
-   out_5983304822532396966[10] = delta_x[10] + nom_x[10];
-   out_5983304822532396966[11] = delta_x[11] + nom_x[11];
-   out_5983304822532396966[12] = delta_x[12] + nom_x[12];
-   out_5983304822532396966[13] = delta_x[13] + nom_x[13];
-   out_5983304822532396966[14] = delta_x[14] + nom_x[14];
-   out_5983304822532396966[15] = delta_x[15] + nom_x[15];
-   out_5983304822532396966[16] = delta_x[16] + nom_x[16];
-   out_5983304822532396966[17] = delta_x[17] + nom_x[17];
+void err_fun(double *nom_x, double *delta_x, double *out_8743288361506485614) {
+   out_8743288361506485614[0] = delta_x[0] + nom_x[0];
+   out_8743288361506485614[1] = delta_x[1] + nom_x[1];
+   out_8743288361506485614[2] = delta_x[2] + nom_x[2];
+   out_8743288361506485614[3] = delta_x[3] + nom_x[3];
+   out_8743288361506485614[4] = delta_x[4] + nom_x[4];
+   out_8743288361506485614[5] = delta_x[5] + nom_x[5];
+   out_8743288361506485614[6] = delta_x[6] + nom_x[6];
+   out_8743288361506485614[7] = delta_x[7] + nom_x[7];
+   out_8743288361506485614[8] = delta_x[8] + nom_x[8];
+   out_8743288361506485614[9] = delta_x[9] + nom_x[9];
+   out_8743288361506485614[10] = delta_x[10] + nom_x[10];
+   out_8743288361506485614[11] = delta_x[11] + nom_x[11];
+   out_8743288361506485614[12] = delta_x[12] + nom_x[12];
+   out_8743288361506485614[13] = delta_x[13] + nom_x[13];
+   out_8743288361506485614[14] = delta_x[14] + nom_x[14];
+   out_8743288361506485614[15] = delta_x[15] + nom_x[15];
+   out_8743288361506485614[16] = delta_x[16] + nom_x[16];
+   out_8743288361506485614[17] = delta_x[17] + nom_x[17];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_6802128044019654079) {
-   out_6802128044019654079[0] = -nom_x[0] + true_x[0];
-   out_6802128044019654079[1] = -nom_x[1] + true_x[1];
-   out_6802128044019654079[2] = -nom_x[2] + true_x[2];
-   out_6802128044019654079[3] = -nom_x[3] + true_x[3];
-   out_6802128044019654079[4] = -nom_x[4] + true_x[4];
-   out_6802128044019654079[5] = -nom_x[5] + true_x[5];
-   out_6802128044019654079[6] = -nom_x[6] + true_x[6];
-   out_6802128044019654079[7] = -nom_x[7] + true_x[7];
-   out_6802128044019654079[8] = -nom_x[8] + true_x[8];
-   out_6802128044019654079[9] = -nom_x[9] + true_x[9];
-   out_6802128044019654079[10] = -nom_x[10] + true_x[10];
-   out_6802128044019654079[11] = -nom_x[11] + true_x[11];
-   out_6802128044019654079[12] = -nom_x[12] + true_x[12];
-   out_6802128044019654079[13] = -nom_x[13] + true_x[13];
-   out_6802128044019654079[14] = -nom_x[14] + true_x[14];
-   out_6802128044019654079[15] = -nom_x[15] + true_x[15];
-   out_6802128044019654079[16] = -nom_x[16] + true_x[16];
-   out_6802128044019654079[17] = -nom_x[17] + true_x[17];
+void inv_err_fun(double *nom_x, double *true_x, double *out_7700232313042684193) {
+   out_7700232313042684193[0] = -nom_x[0] + true_x[0];
+   out_7700232313042684193[1] = -nom_x[1] + true_x[1];
+   out_7700232313042684193[2] = -nom_x[2] + true_x[2];
+   out_7700232313042684193[3] = -nom_x[3] + true_x[3];
+   out_7700232313042684193[4] = -nom_x[4] + true_x[4];
+   out_7700232313042684193[5] = -nom_x[5] + true_x[5];
+   out_7700232313042684193[6] = -nom_x[6] + true_x[6];
+   out_7700232313042684193[7] = -nom_x[7] + true_x[7];
+   out_7700232313042684193[8] = -nom_x[8] + true_x[8];
+   out_7700232313042684193[9] = -nom_x[9] + true_x[9];
+   out_7700232313042684193[10] = -nom_x[10] + true_x[10];
+   out_7700232313042684193[11] = -nom_x[11] + true_x[11];
+   out_7700232313042684193[12] = -nom_x[12] + true_x[12];
+   out_7700232313042684193[13] = -nom_x[13] + true_x[13];
+   out_7700232313042684193[14] = -nom_x[14] + true_x[14];
+   out_7700232313042684193[15] = -nom_x[15] + true_x[15];
+   out_7700232313042684193[16] = -nom_x[16] + true_x[16];
+   out_7700232313042684193[17] = -nom_x[17] + true_x[17];
 }
-void H_mod_fun(double *state, double *out_3170132304237044244) {
-   out_3170132304237044244[0] = 1.0;
-   out_3170132304237044244[1] = 0.0;
-   out_3170132304237044244[2] = 0.0;
-   out_3170132304237044244[3] = 0.0;
-   out_3170132304237044244[4] = 0.0;
-   out_3170132304237044244[5] = 0.0;
-   out_3170132304237044244[6] = 0.0;
-   out_3170132304237044244[7] = 0.0;
-   out_3170132304237044244[8] = 0.0;
-   out_3170132304237044244[9] = 0.0;
-   out_3170132304237044244[10] = 0.0;
-   out_3170132304237044244[11] = 0.0;
-   out_3170132304237044244[12] = 0.0;
-   out_3170132304237044244[13] = 0.0;
-   out_3170132304237044244[14] = 0.0;
-   out_3170132304237044244[15] = 0.0;
-   out_3170132304237044244[16] = 0.0;
-   out_3170132304237044244[17] = 0.0;
-   out_3170132304237044244[18] = 0.0;
-   out_3170132304237044244[19] = 1.0;
-   out_3170132304237044244[20] = 0.0;
-   out_3170132304237044244[21] = 0.0;
-   out_3170132304237044244[22] = 0.0;
-   out_3170132304237044244[23] = 0.0;
-   out_3170132304237044244[24] = 0.0;
-   out_3170132304237044244[25] = 0.0;
-   out_3170132304237044244[26] = 0.0;
-   out_3170132304237044244[27] = 0.0;
-   out_3170132304237044244[28] = 0.0;
-   out_3170132304237044244[29] = 0.0;
-   out_3170132304237044244[30] = 0.0;
-   out_3170132304237044244[31] = 0.0;
-   out_3170132304237044244[32] = 0.0;
-   out_3170132304237044244[33] = 0.0;
-   out_3170132304237044244[34] = 0.0;
-   out_3170132304237044244[35] = 0.0;
-   out_3170132304237044244[36] = 0.0;
-   out_3170132304237044244[37] = 0.0;
-   out_3170132304237044244[38] = 1.0;
-   out_3170132304237044244[39] = 0.0;
-   out_3170132304237044244[40] = 0.0;
-   out_3170132304237044244[41] = 0.0;
-   out_3170132304237044244[42] = 0.0;
-   out_3170132304237044244[43] = 0.0;
-   out_3170132304237044244[44] = 0.0;
-   out_3170132304237044244[45] = 0.0;
-   out_3170132304237044244[46] = 0.0;
-   out_3170132304237044244[47] = 0.0;
-   out_3170132304237044244[48] = 0.0;
-   out_3170132304237044244[49] = 0.0;
-   out_3170132304237044244[50] = 0.0;
-   out_3170132304237044244[51] = 0.0;
-   out_3170132304237044244[52] = 0.0;
-   out_3170132304237044244[53] = 0.0;
-   out_3170132304237044244[54] = 0.0;
-   out_3170132304237044244[55] = 0.0;
-   out_3170132304237044244[56] = 0.0;
-   out_3170132304237044244[57] = 1.0;
-   out_3170132304237044244[58] = 0.0;
-   out_3170132304237044244[59] = 0.0;
-   out_3170132304237044244[60] = 0.0;
-   out_3170132304237044244[61] = 0.0;
-   out_3170132304237044244[62] = 0.0;
-   out_3170132304237044244[63] = 0.0;
-   out_3170132304237044244[64] = 0.0;
-   out_3170132304237044244[65] = 0.0;
-   out_3170132304237044244[66] = 0.0;
-   out_3170132304237044244[67] = 0.0;
-   out_3170132304237044244[68] = 0.0;
-   out_3170132304237044244[69] = 0.0;
-   out_3170132304237044244[70] = 0.0;
-   out_3170132304237044244[71] = 0.0;
-   out_3170132304237044244[72] = 0.0;
-   out_3170132304237044244[73] = 0.0;
-   out_3170132304237044244[74] = 0.0;
-   out_3170132304237044244[75] = 0.0;
-   out_3170132304237044244[76] = 1.0;
-   out_3170132304237044244[77] = 0.0;
-   out_3170132304237044244[78] = 0.0;
-   out_3170132304237044244[79] = 0.0;
-   out_3170132304237044244[80] = 0.0;
-   out_3170132304237044244[81] = 0.0;
-   out_3170132304237044244[82] = 0.0;
-   out_3170132304237044244[83] = 0.0;
-   out_3170132304237044244[84] = 0.0;
-   out_3170132304237044244[85] = 0.0;
-   out_3170132304237044244[86] = 0.0;
-   out_3170132304237044244[87] = 0.0;
-   out_3170132304237044244[88] = 0.0;
-   out_3170132304237044244[89] = 0.0;
-   out_3170132304237044244[90] = 0.0;
-   out_3170132304237044244[91] = 0.0;
-   out_3170132304237044244[92] = 0.0;
-   out_3170132304237044244[93] = 0.0;
-   out_3170132304237044244[94] = 0.0;
-   out_3170132304237044244[95] = 1.0;
-   out_3170132304237044244[96] = 0.0;
-   out_3170132304237044244[97] = 0.0;
-   out_3170132304237044244[98] = 0.0;
-   out_3170132304237044244[99] = 0.0;
-   out_3170132304237044244[100] = 0.0;
-   out_3170132304237044244[101] = 0.0;
-   out_3170132304237044244[102] = 0.0;
-   out_3170132304237044244[103] = 0.0;
-   out_3170132304237044244[104] = 0.0;
-   out_3170132304237044244[105] = 0.0;
-   out_3170132304237044244[106] = 0.0;
-   out_3170132304237044244[107] = 0.0;
-   out_3170132304237044244[108] = 0.0;
-   out_3170132304237044244[109] = 0.0;
-   out_3170132304237044244[110] = 0.0;
-   out_3170132304237044244[111] = 0.0;
-   out_3170132304237044244[112] = 0.0;
-   out_3170132304237044244[113] = 0.0;
-   out_3170132304237044244[114] = 1.0;
-   out_3170132304237044244[115] = 0.0;
-   out_3170132304237044244[116] = 0.0;
-   out_3170132304237044244[117] = 0.0;
-   out_3170132304237044244[118] = 0.0;
-   out_3170132304237044244[119] = 0.0;
-   out_3170132304237044244[120] = 0.0;
-   out_3170132304237044244[121] = 0.0;
-   out_3170132304237044244[122] = 0.0;
-   out_3170132304237044244[123] = 0.0;
-   out_3170132304237044244[124] = 0.0;
-   out_3170132304237044244[125] = 0.0;
-   out_3170132304237044244[126] = 0.0;
-   out_3170132304237044244[127] = 0.0;
-   out_3170132304237044244[128] = 0.0;
-   out_3170132304237044244[129] = 0.0;
-   out_3170132304237044244[130] = 0.0;
-   out_3170132304237044244[131] = 0.0;
-   out_3170132304237044244[132] = 0.0;
-   out_3170132304237044244[133] = 1.0;
-   out_3170132304237044244[134] = 0.0;
-   out_3170132304237044244[135] = 0.0;
-   out_3170132304237044244[136] = 0.0;
-   out_3170132304237044244[137] = 0.0;
-   out_3170132304237044244[138] = 0.0;
-   out_3170132304237044244[139] = 0.0;
-   out_3170132304237044244[140] = 0.0;
-   out_3170132304237044244[141] = 0.0;
-   out_3170132304237044244[142] = 0.0;
-   out_3170132304237044244[143] = 0.0;
-   out_3170132304237044244[144] = 0.0;
-   out_3170132304237044244[145] = 0.0;
-   out_3170132304237044244[146] = 0.0;
-   out_3170132304237044244[147] = 0.0;
-   out_3170132304237044244[148] = 0.0;
-   out_3170132304237044244[149] = 0.0;
-   out_3170132304237044244[150] = 0.0;
-   out_3170132304237044244[151] = 0.0;
-   out_3170132304237044244[152] = 1.0;
-   out_3170132304237044244[153] = 0.0;
-   out_3170132304237044244[154] = 0.0;
-   out_3170132304237044244[155] = 0.0;
-   out_3170132304237044244[156] = 0.0;
-   out_3170132304237044244[157] = 0.0;
-   out_3170132304237044244[158] = 0.0;
-   out_3170132304237044244[159] = 0.0;
-   out_3170132304237044244[160] = 0.0;
-   out_3170132304237044244[161] = 0.0;
-   out_3170132304237044244[162] = 0.0;
-   out_3170132304237044244[163] = 0.0;
-   out_3170132304237044244[164] = 0.0;
-   out_3170132304237044244[165] = 0.0;
-   out_3170132304237044244[166] = 0.0;
-   out_3170132304237044244[167] = 0.0;
-   out_3170132304237044244[168] = 0.0;
-   out_3170132304237044244[169] = 0.0;
-   out_3170132304237044244[170] = 0.0;
-   out_3170132304237044244[171] = 1.0;
-   out_3170132304237044244[172] = 0.0;
-   out_3170132304237044244[173] = 0.0;
-   out_3170132304237044244[174] = 0.0;
-   out_3170132304237044244[175] = 0.0;
-   out_3170132304237044244[176] = 0.0;
-   out_3170132304237044244[177] = 0.0;
-   out_3170132304237044244[178] = 0.0;
-   out_3170132304237044244[179] = 0.0;
-   out_3170132304237044244[180] = 0.0;
-   out_3170132304237044244[181] = 0.0;
-   out_3170132304237044244[182] = 0.0;
-   out_3170132304237044244[183] = 0.0;
-   out_3170132304237044244[184] = 0.0;
-   out_3170132304237044244[185] = 0.0;
-   out_3170132304237044244[186] = 0.0;
-   out_3170132304237044244[187] = 0.0;
-   out_3170132304237044244[188] = 0.0;
-   out_3170132304237044244[189] = 0.0;
-   out_3170132304237044244[190] = 1.0;
-   out_3170132304237044244[191] = 0.0;
-   out_3170132304237044244[192] = 0.0;
-   out_3170132304237044244[193] = 0.0;
-   out_3170132304237044244[194] = 0.0;
-   out_3170132304237044244[195] = 0.0;
-   out_3170132304237044244[196] = 0.0;
-   out_3170132304237044244[197] = 0.0;
-   out_3170132304237044244[198] = 0.0;
-   out_3170132304237044244[199] = 0.0;
-   out_3170132304237044244[200] = 0.0;
-   out_3170132304237044244[201] = 0.0;
-   out_3170132304237044244[202] = 0.0;
-   out_3170132304237044244[203] = 0.0;
-   out_3170132304237044244[204] = 0.0;
-   out_3170132304237044244[205] = 0.0;
-   out_3170132304237044244[206] = 0.0;
-   out_3170132304237044244[207] = 0.0;
-   out_3170132304237044244[208] = 0.0;
-   out_3170132304237044244[209] = 1.0;
-   out_3170132304237044244[210] = 0.0;
-   out_3170132304237044244[211] = 0.0;
-   out_3170132304237044244[212] = 0.0;
-   out_3170132304237044244[213] = 0.0;
-   out_3170132304237044244[214] = 0.0;
-   out_3170132304237044244[215] = 0.0;
-   out_3170132304237044244[216] = 0.0;
-   out_3170132304237044244[217] = 0.0;
-   out_3170132304237044244[218] = 0.0;
-   out_3170132304237044244[219] = 0.0;
-   out_3170132304237044244[220] = 0.0;
-   out_3170132304237044244[221] = 0.0;
-   out_3170132304237044244[222] = 0.0;
-   out_3170132304237044244[223] = 0.0;
-   out_3170132304237044244[224] = 0.0;
-   out_3170132304237044244[225] = 0.0;
-   out_3170132304237044244[226] = 0.0;
-   out_3170132304237044244[227] = 0.0;
-   out_3170132304237044244[228] = 1.0;
-   out_3170132304237044244[229] = 0.0;
-   out_3170132304237044244[230] = 0.0;
-   out_3170132304237044244[231] = 0.0;
-   out_3170132304237044244[232] = 0.0;
-   out_3170132304237044244[233] = 0.0;
-   out_3170132304237044244[234] = 0.0;
-   out_3170132304237044244[235] = 0.0;
-   out_3170132304237044244[236] = 0.0;
-   out_3170132304237044244[237] = 0.0;
-   out_3170132304237044244[238] = 0.0;
-   out_3170132304237044244[239] = 0.0;
-   out_3170132304237044244[240] = 0.0;
-   out_3170132304237044244[241] = 0.0;
-   out_3170132304237044244[242] = 0.0;
-   out_3170132304237044244[243] = 0.0;
-   out_3170132304237044244[244] = 0.0;
-   out_3170132304237044244[245] = 0.0;
-   out_3170132304237044244[246] = 0.0;
-   out_3170132304237044244[247] = 1.0;
-   out_3170132304237044244[248] = 0.0;
-   out_3170132304237044244[249] = 0.0;
-   out_3170132304237044244[250] = 0.0;
-   out_3170132304237044244[251] = 0.0;
-   out_3170132304237044244[252] = 0.0;
-   out_3170132304237044244[253] = 0.0;
-   out_3170132304237044244[254] = 0.0;
-   out_3170132304237044244[255] = 0.0;
-   out_3170132304237044244[256] = 0.0;
-   out_3170132304237044244[257] = 0.0;
-   out_3170132304237044244[258] = 0.0;
-   out_3170132304237044244[259] = 0.0;
-   out_3170132304237044244[260] = 0.0;
-   out_3170132304237044244[261] = 0.0;
-   out_3170132304237044244[262] = 0.0;
-   out_3170132304237044244[263] = 0.0;
-   out_3170132304237044244[264] = 0.0;
-   out_3170132304237044244[265] = 0.0;
-   out_3170132304237044244[266] = 1.0;
-   out_3170132304237044244[267] = 0.0;
-   out_3170132304237044244[268] = 0.0;
-   out_3170132304237044244[269] = 0.0;
-   out_3170132304237044244[270] = 0.0;
-   out_3170132304237044244[271] = 0.0;
-   out_3170132304237044244[272] = 0.0;
-   out_3170132304237044244[273] = 0.0;
-   out_3170132304237044244[274] = 0.0;
-   out_3170132304237044244[275] = 0.0;
-   out_3170132304237044244[276] = 0.0;
-   out_3170132304237044244[277] = 0.0;
-   out_3170132304237044244[278] = 0.0;
-   out_3170132304237044244[279] = 0.0;
-   out_3170132304237044244[280] = 0.0;
-   out_3170132304237044244[281] = 0.0;
-   out_3170132304237044244[282] = 0.0;
-   out_3170132304237044244[283] = 0.0;
-   out_3170132304237044244[284] = 0.0;
-   out_3170132304237044244[285] = 1.0;
-   out_3170132304237044244[286] = 0.0;
-   out_3170132304237044244[287] = 0.0;
-   out_3170132304237044244[288] = 0.0;
-   out_3170132304237044244[289] = 0.0;
-   out_3170132304237044244[290] = 0.0;
-   out_3170132304237044244[291] = 0.0;
-   out_3170132304237044244[292] = 0.0;
-   out_3170132304237044244[293] = 0.0;
-   out_3170132304237044244[294] = 0.0;
-   out_3170132304237044244[295] = 0.0;
-   out_3170132304237044244[296] = 0.0;
-   out_3170132304237044244[297] = 0.0;
-   out_3170132304237044244[298] = 0.0;
-   out_3170132304237044244[299] = 0.0;
-   out_3170132304237044244[300] = 0.0;
-   out_3170132304237044244[301] = 0.0;
-   out_3170132304237044244[302] = 0.0;
-   out_3170132304237044244[303] = 0.0;
-   out_3170132304237044244[304] = 1.0;
-   out_3170132304237044244[305] = 0.0;
-   out_3170132304237044244[306] = 0.0;
-   out_3170132304237044244[307] = 0.0;
-   out_3170132304237044244[308] = 0.0;
-   out_3170132304237044244[309] = 0.0;
-   out_3170132304237044244[310] = 0.0;
-   out_3170132304237044244[311] = 0.0;
-   out_3170132304237044244[312] = 0.0;
-   out_3170132304237044244[313] = 0.0;
-   out_3170132304237044244[314] = 0.0;
-   out_3170132304237044244[315] = 0.0;
-   out_3170132304237044244[316] = 0.0;
-   out_3170132304237044244[317] = 0.0;
-   out_3170132304237044244[318] = 0.0;
-   out_3170132304237044244[319] = 0.0;
-   out_3170132304237044244[320] = 0.0;
-   out_3170132304237044244[321] = 0.0;
-   out_3170132304237044244[322] = 0.0;
-   out_3170132304237044244[323] = 1.0;
+void H_mod_fun(double *state, double *out_5879762199447615362) {
+   out_5879762199447615362[0] = 1.0;
+   out_5879762199447615362[1] = 0.0;
+   out_5879762199447615362[2] = 0.0;
+   out_5879762199447615362[3] = 0.0;
+   out_5879762199447615362[4] = 0.0;
+   out_5879762199447615362[5] = 0.0;
+   out_5879762199447615362[6] = 0.0;
+   out_5879762199447615362[7] = 0.0;
+   out_5879762199447615362[8] = 0.0;
+   out_5879762199447615362[9] = 0.0;
+   out_5879762199447615362[10] = 0.0;
+   out_5879762199447615362[11] = 0.0;
+   out_5879762199447615362[12] = 0.0;
+   out_5879762199447615362[13] = 0.0;
+   out_5879762199447615362[14] = 0.0;
+   out_5879762199447615362[15] = 0.0;
+   out_5879762199447615362[16] = 0.0;
+   out_5879762199447615362[17] = 0.0;
+   out_5879762199447615362[18] = 0.0;
+   out_5879762199447615362[19] = 1.0;
+   out_5879762199447615362[20] = 0.0;
+   out_5879762199447615362[21] = 0.0;
+   out_5879762199447615362[22] = 0.0;
+   out_5879762199447615362[23] = 0.0;
+   out_5879762199447615362[24] = 0.0;
+   out_5879762199447615362[25] = 0.0;
+   out_5879762199447615362[26] = 0.0;
+   out_5879762199447615362[27] = 0.0;
+   out_5879762199447615362[28] = 0.0;
+   out_5879762199447615362[29] = 0.0;
+   out_5879762199447615362[30] = 0.0;
+   out_5879762199447615362[31] = 0.0;
+   out_5879762199447615362[32] = 0.0;
+   out_5879762199447615362[33] = 0.0;
+   out_5879762199447615362[34] = 0.0;
+   out_5879762199447615362[35] = 0.0;
+   out_5879762199447615362[36] = 0.0;
+   out_5879762199447615362[37] = 0.0;
+   out_5879762199447615362[38] = 1.0;
+   out_5879762199447615362[39] = 0.0;
+   out_5879762199447615362[40] = 0.0;
+   out_5879762199447615362[41] = 0.0;
+   out_5879762199447615362[42] = 0.0;
+   out_5879762199447615362[43] = 0.0;
+   out_5879762199447615362[44] = 0.0;
+   out_5879762199447615362[45] = 0.0;
+   out_5879762199447615362[46] = 0.0;
+   out_5879762199447615362[47] = 0.0;
+   out_5879762199447615362[48] = 0.0;
+   out_5879762199447615362[49] = 0.0;
+   out_5879762199447615362[50] = 0.0;
+   out_5879762199447615362[51] = 0.0;
+   out_5879762199447615362[52] = 0.0;
+   out_5879762199447615362[53] = 0.0;
+   out_5879762199447615362[54] = 0.0;
+   out_5879762199447615362[55] = 0.0;
+   out_5879762199447615362[56] = 0.0;
+   out_5879762199447615362[57] = 1.0;
+   out_5879762199447615362[58] = 0.0;
+   out_5879762199447615362[59] = 0.0;
+   out_5879762199447615362[60] = 0.0;
+   out_5879762199447615362[61] = 0.0;
+   out_5879762199447615362[62] = 0.0;
+   out_5879762199447615362[63] = 0.0;
+   out_5879762199447615362[64] = 0.0;
+   out_5879762199447615362[65] = 0.0;
+   out_5879762199447615362[66] = 0.0;
+   out_5879762199447615362[67] = 0.0;
+   out_5879762199447615362[68] = 0.0;
+   out_5879762199447615362[69] = 0.0;
+   out_5879762199447615362[70] = 0.0;
+   out_5879762199447615362[71] = 0.0;
+   out_5879762199447615362[72] = 0.0;
+   out_5879762199447615362[73] = 0.0;
+   out_5879762199447615362[74] = 0.0;
+   out_5879762199447615362[75] = 0.0;
+   out_5879762199447615362[76] = 1.0;
+   out_5879762199447615362[77] = 0.0;
+   out_5879762199447615362[78] = 0.0;
+   out_5879762199447615362[79] = 0.0;
+   out_5879762199447615362[80] = 0.0;
+   out_5879762199447615362[81] = 0.0;
+   out_5879762199447615362[82] = 0.0;
+   out_5879762199447615362[83] = 0.0;
+   out_5879762199447615362[84] = 0.0;
+   out_5879762199447615362[85] = 0.0;
+   out_5879762199447615362[86] = 0.0;
+   out_5879762199447615362[87] = 0.0;
+   out_5879762199447615362[88] = 0.0;
+   out_5879762199447615362[89] = 0.0;
+   out_5879762199447615362[90] = 0.0;
+   out_5879762199447615362[91] = 0.0;
+   out_5879762199447615362[92] = 0.0;
+   out_5879762199447615362[93] = 0.0;
+   out_5879762199447615362[94] = 0.0;
+   out_5879762199447615362[95] = 1.0;
+   out_5879762199447615362[96] = 0.0;
+   out_5879762199447615362[97] = 0.0;
+   out_5879762199447615362[98] = 0.0;
+   out_5879762199447615362[99] = 0.0;
+   out_5879762199447615362[100] = 0.0;
+   out_5879762199447615362[101] = 0.0;
+   out_5879762199447615362[102] = 0.0;
+   out_5879762199447615362[103] = 0.0;
+   out_5879762199447615362[104] = 0.0;
+   out_5879762199447615362[105] = 0.0;
+   out_5879762199447615362[106] = 0.0;
+   out_5879762199447615362[107] = 0.0;
+   out_5879762199447615362[108] = 0.0;
+   out_5879762199447615362[109] = 0.0;
+   out_5879762199447615362[110] = 0.0;
+   out_5879762199447615362[111] = 0.0;
+   out_5879762199447615362[112] = 0.0;
+   out_5879762199447615362[113] = 0.0;
+   out_5879762199447615362[114] = 1.0;
+   out_5879762199447615362[115] = 0.0;
+   out_5879762199447615362[116] = 0.0;
+   out_5879762199447615362[117] = 0.0;
+   out_5879762199447615362[118] = 0.0;
+   out_5879762199447615362[119] = 0.0;
+   out_5879762199447615362[120] = 0.0;
+   out_5879762199447615362[121] = 0.0;
+   out_5879762199447615362[122] = 0.0;
+   out_5879762199447615362[123] = 0.0;
+   out_5879762199447615362[124] = 0.0;
+   out_5879762199447615362[125] = 0.0;
+   out_5879762199447615362[126] = 0.0;
+   out_5879762199447615362[127] = 0.0;
+   out_5879762199447615362[128] = 0.0;
+   out_5879762199447615362[129] = 0.0;
+   out_5879762199447615362[130] = 0.0;
+   out_5879762199447615362[131] = 0.0;
+   out_5879762199447615362[132] = 0.0;
+   out_5879762199447615362[133] = 1.0;
+   out_5879762199447615362[134] = 0.0;
+   out_5879762199447615362[135] = 0.0;
+   out_5879762199447615362[136] = 0.0;
+   out_5879762199447615362[137] = 0.0;
+   out_5879762199447615362[138] = 0.0;
+   out_5879762199447615362[139] = 0.0;
+   out_5879762199447615362[140] = 0.0;
+   out_5879762199447615362[141] = 0.0;
+   out_5879762199447615362[142] = 0.0;
+   out_5879762199447615362[143] = 0.0;
+   out_5879762199447615362[144] = 0.0;
+   out_5879762199447615362[145] = 0.0;
+   out_5879762199447615362[146] = 0.0;
+   out_5879762199447615362[147] = 0.0;
+   out_5879762199447615362[148] = 0.0;
+   out_5879762199447615362[149] = 0.0;
+   out_5879762199447615362[150] = 0.0;
+   out_5879762199447615362[151] = 0.0;
+   out_5879762199447615362[152] = 1.0;
+   out_5879762199447615362[153] = 0.0;
+   out_5879762199447615362[154] = 0.0;
+   out_5879762199447615362[155] = 0.0;
+   out_5879762199447615362[156] = 0.0;
+   out_5879762199447615362[157] = 0.0;
+   out_5879762199447615362[158] = 0.0;
+   out_5879762199447615362[159] = 0.0;
+   out_5879762199447615362[160] = 0.0;
+   out_5879762199447615362[161] = 0.0;
+   out_5879762199447615362[162] = 0.0;
+   out_5879762199447615362[163] = 0.0;
+   out_5879762199447615362[164] = 0.0;
+   out_5879762199447615362[165] = 0.0;
+   out_5879762199447615362[166] = 0.0;
+   out_5879762199447615362[167] = 0.0;
+   out_5879762199447615362[168] = 0.0;
+   out_5879762199447615362[169] = 0.0;
+   out_5879762199447615362[170] = 0.0;
+   out_5879762199447615362[171] = 1.0;
+   out_5879762199447615362[172] = 0.0;
+   out_5879762199447615362[173] = 0.0;
+   out_5879762199447615362[174] = 0.0;
+   out_5879762199447615362[175] = 0.0;
+   out_5879762199447615362[176] = 0.0;
+   out_5879762199447615362[177] = 0.0;
+   out_5879762199447615362[178] = 0.0;
+   out_5879762199447615362[179] = 0.0;
+   out_5879762199447615362[180] = 0.0;
+   out_5879762199447615362[181] = 0.0;
+   out_5879762199447615362[182] = 0.0;
+   out_5879762199447615362[183] = 0.0;
+   out_5879762199447615362[184] = 0.0;
+   out_5879762199447615362[185] = 0.0;
+   out_5879762199447615362[186] = 0.0;
+   out_5879762199447615362[187] = 0.0;
+   out_5879762199447615362[188] = 0.0;
+   out_5879762199447615362[189] = 0.0;
+   out_5879762199447615362[190] = 1.0;
+   out_5879762199447615362[191] = 0.0;
+   out_5879762199447615362[192] = 0.0;
+   out_5879762199447615362[193] = 0.0;
+   out_5879762199447615362[194] = 0.0;
+   out_5879762199447615362[195] = 0.0;
+   out_5879762199447615362[196] = 0.0;
+   out_5879762199447615362[197] = 0.0;
+   out_5879762199447615362[198] = 0.0;
+   out_5879762199447615362[199] = 0.0;
+   out_5879762199447615362[200] = 0.0;
+   out_5879762199447615362[201] = 0.0;
+   out_5879762199447615362[202] = 0.0;
+   out_5879762199447615362[203] = 0.0;
+   out_5879762199447615362[204] = 0.0;
+   out_5879762199447615362[205] = 0.0;
+   out_5879762199447615362[206] = 0.0;
+   out_5879762199447615362[207] = 0.0;
+   out_5879762199447615362[208] = 0.0;
+   out_5879762199447615362[209] = 1.0;
+   out_5879762199447615362[210] = 0.0;
+   out_5879762199447615362[211] = 0.0;
+   out_5879762199447615362[212] = 0.0;
+   out_5879762199447615362[213] = 0.0;
+   out_5879762199447615362[214] = 0.0;
+   out_5879762199447615362[215] = 0.0;
+   out_5879762199447615362[216] = 0.0;
+   out_5879762199447615362[217] = 0.0;
+   out_5879762199447615362[218] = 0.0;
+   out_5879762199447615362[219] = 0.0;
+   out_5879762199447615362[220] = 0.0;
+   out_5879762199447615362[221] = 0.0;
+   out_5879762199447615362[222] = 0.0;
+   out_5879762199447615362[223] = 0.0;
+   out_5879762199447615362[224] = 0.0;
+   out_5879762199447615362[225] = 0.0;
+   out_5879762199447615362[226] = 0.0;
+   out_5879762199447615362[227] = 0.0;
+   out_5879762199447615362[228] = 1.0;
+   out_5879762199447615362[229] = 0.0;
+   out_5879762199447615362[230] = 0.0;
+   out_5879762199447615362[231] = 0.0;
+   out_5879762199447615362[232] = 0.0;
+   out_5879762199447615362[233] = 0.0;
+   out_5879762199447615362[234] = 0.0;
+   out_5879762199447615362[235] = 0.0;
+   out_5879762199447615362[236] = 0.0;
+   out_5879762199447615362[237] = 0.0;
+   out_5879762199447615362[238] = 0.0;
+   out_5879762199447615362[239] = 0.0;
+   out_5879762199447615362[240] = 0.0;
+   out_5879762199447615362[241] = 0.0;
+   out_5879762199447615362[242] = 0.0;
+   out_5879762199447615362[243] = 0.0;
+   out_5879762199447615362[244] = 0.0;
+   out_5879762199447615362[245] = 0.0;
+   out_5879762199447615362[246] = 0.0;
+   out_5879762199447615362[247] = 1.0;
+   out_5879762199447615362[248] = 0.0;
+   out_5879762199447615362[249] = 0.0;
+   out_5879762199447615362[250] = 0.0;
+   out_5879762199447615362[251] = 0.0;
+   out_5879762199447615362[252] = 0.0;
+   out_5879762199447615362[253] = 0.0;
+   out_5879762199447615362[254] = 0.0;
+   out_5879762199447615362[255] = 0.0;
+   out_5879762199447615362[256] = 0.0;
+   out_5879762199447615362[257] = 0.0;
+   out_5879762199447615362[258] = 0.0;
+   out_5879762199447615362[259] = 0.0;
+   out_5879762199447615362[260] = 0.0;
+   out_5879762199447615362[261] = 0.0;
+   out_5879762199447615362[262] = 0.0;
+   out_5879762199447615362[263] = 0.0;
+   out_5879762199447615362[264] = 0.0;
+   out_5879762199447615362[265] = 0.0;
+   out_5879762199447615362[266] = 1.0;
+   out_5879762199447615362[267] = 0.0;
+   out_5879762199447615362[268] = 0.0;
+   out_5879762199447615362[269] = 0.0;
+   out_5879762199447615362[270] = 0.0;
+   out_5879762199447615362[271] = 0.0;
+   out_5879762199447615362[272] = 0.0;
+   out_5879762199447615362[273] = 0.0;
+   out_5879762199447615362[274] = 0.0;
+   out_5879762199447615362[275] = 0.0;
+   out_5879762199447615362[276] = 0.0;
+   out_5879762199447615362[277] = 0.0;
+   out_5879762199447615362[278] = 0.0;
+   out_5879762199447615362[279] = 0.0;
+   out_5879762199447615362[280] = 0.0;
+   out_5879762199447615362[281] = 0.0;
+   out_5879762199447615362[282] = 0.0;
+   out_5879762199447615362[283] = 0.0;
+   out_5879762199447615362[284] = 0.0;
+   out_5879762199447615362[285] = 1.0;
+   out_5879762199447615362[286] = 0.0;
+   out_5879762199447615362[287] = 0.0;
+   out_5879762199447615362[288] = 0.0;
+   out_5879762199447615362[289] = 0.0;
+   out_5879762199447615362[290] = 0.0;
+   out_5879762199447615362[291] = 0.0;
+   out_5879762199447615362[292] = 0.0;
+   out_5879762199447615362[293] = 0.0;
+   out_5879762199447615362[294] = 0.0;
+   out_5879762199447615362[295] = 0.0;
+   out_5879762199447615362[296] = 0.0;
+   out_5879762199447615362[297] = 0.0;
+   out_5879762199447615362[298] = 0.0;
+   out_5879762199447615362[299] = 0.0;
+   out_5879762199447615362[300] = 0.0;
+   out_5879762199447615362[301] = 0.0;
+   out_5879762199447615362[302] = 0.0;
+   out_5879762199447615362[303] = 0.0;
+   out_5879762199447615362[304] = 1.0;
+   out_5879762199447615362[305] = 0.0;
+   out_5879762199447615362[306] = 0.0;
+   out_5879762199447615362[307] = 0.0;
+   out_5879762199447615362[308] = 0.0;
+   out_5879762199447615362[309] = 0.0;
+   out_5879762199447615362[310] = 0.0;
+   out_5879762199447615362[311] = 0.0;
+   out_5879762199447615362[312] = 0.0;
+   out_5879762199447615362[313] = 0.0;
+   out_5879762199447615362[314] = 0.0;
+   out_5879762199447615362[315] = 0.0;
+   out_5879762199447615362[316] = 0.0;
+   out_5879762199447615362[317] = 0.0;
+   out_5879762199447615362[318] = 0.0;
+   out_5879762199447615362[319] = 0.0;
+   out_5879762199447615362[320] = 0.0;
+   out_5879762199447615362[321] = 0.0;
+   out_5879762199447615362[322] = 0.0;
+   out_5879762199447615362[323] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_8255079778207779351) {
-   out_8255079778207779351[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]));
-   out_8255079778207779351[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]));
-   out_8255079778207779351[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]));
-   out_8255079778207779351[3] = dt*state[12] + state[3];
-   out_8255079778207779351[4] = dt*state[13] + state[4];
-   out_8255079778207779351[5] = dt*state[14] + state[5];
-   out_8255079778207779351[6] = state[6];
-   out_8255079778207779351[7] = state[7];
-   out_8255079778207779351[8] = state[8];
-   out_8255079778207779351[9] = state[9];
-   out_8255079778207779351[10] = state[10];
-   out_8255079778207779351[11] = state[11];
-   out_8255079778207779351[12] = state[12];
-   out_8255079778207779351[13] = state[13];
-   out_8255079778207779351[14] = state[14];
-   out_8255079778207779351[15] = state[15];
-   out_8255079778207779351[16] = state[16];
-   out_8255079778207779351[17] = state[17];
+void f_fun(double *state, double dt, double *out_9125558702662429027) {
+   out_9125558702662429027[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]));
+   out_9125558702662429027[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]));
+   out_9125558702662429027[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]));
+   out_9125558702662429027[3] = dt*state[12] + state[3];
+   out_9125558702662429027[4] = dt*state[13] + state[4];
+   out_9125558702662429027[5] = dt*state[14] + state[5];
+   out_9125558702662429027[6] = state[6];
+   out_9125558702662429027[7] = state[7];
+   out_9125558702662429027[8] = state[8];
+   out_9125558702662429027[9] = state[9];
+   out_9125558702662429027[10] = state[10];
+   out_9125558702662429027[11] = state[11];
+   out_9125558702662429027[12] = state[12];
+   out_9125558702662429027[13] = state[13];
+   out_9125558702662429027[14] = state[14];
+   out_9125558702662429027[15] = state[15];
+   out_9125558702662429027[16] = state[16];
+   out_9125558702662429027[17] = state[17];
 }
-void F_fun(double *state, double dt, double *out_4238693480342293986) {
-   out_4238693480342293986[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_4238693480342293986[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_4238693480342293986[2] = 0;
-   out_4238693480342293986[3] = 0;
-   out_4238693480342293986[4] = 0;
-   out_4238693480342293986[5] = 0;
-   out_4238693480342293986[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_4238693480342293986[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_4238693480342293986[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_4238693480342293986[9] = 0;
-   out_4238693480342293986[10] = 0;
-   out_4238693480342293986[11] = 0;
-   out_4238693480342293986[12] = 0;
-   out_4238693480342293986[13] = 0;
-   out_4238693480342293986[14] = 0;
-   out_4238693480342293986[15] = 0;
-   out_4238693480342293986[16] = 0;
-   out_4238693480342293986[17] = 0;
-   out_4238693480342293986[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_4238693480342293986[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_4238693480342293986[20] = 0;
-   out_4238693480342293986[21] = 0;
-   out_4238693480342293986[22] = 0;
-   out_4238693480342293986[23] = 0;
-   out_4238693480342293986[24] = 0;
-   out_4238693480342293986[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_4238693480342293986[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_4238693480342293986[27] = 0;
-   out_4238693480342293986[28] = 0;
-   out_4238693480342293986[29] = 0;
-   out_4238693480342293986[30] = 0;
-   out_4238693480342293986[31] = 0;
-   out_4238693480342293986[32] = 0;
-   out_4238693480342293986[33] = 0;
-   out_4238693480342293986[34] = 0;
-   out_4238693480342293986[35] = 0;
-   out_4238693480342293986[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_4238693480342293986[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_4238693480342293986[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_4238693480342293986[39] = 0;
-   out_4238693480342293986[40] = 0;
-   out_4238693480342293986[41] = 0;
-   out_4238693480342293986[42] = 0;
-   out_4238693480342293986[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_4238693480342293986[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_4238693480342293986[45] = 0;
-   out_4238693480342293986[46] = 0;
-   out_4238693480342293986[47] = 0;
-   out_4238693480342293986[48] = 0;
-   out_4238693480342293986[49] = 0;
-   out_4238693480342293986[50] = 0;
-   out_4238693480342293986[51] = 0;
-   out_4238693480342293986[52] = 0;
-   out_4238693480342293986[53] = 0;
-   out_4238693480342293986[54] = 0;
-   out_4238693480342293986[55] = 0;
-   out_4238693480342293986[56] = 0;
-   out_4238693480342293986[57] = 1;
-   out_4238693480342293986[58] = 0;
-   out_4238693480342293986[59] = 0;
-   out_4238693480342293986[60] = 0;
-   out_4238693480342293986[61] = 0;
-   out_4238693480342293986[62] = 0;
-   out_4238693480342293986[63] = 0;
-   out_4238693480342293986[64] = 0;
-   out_4238693480342293986[65] = 0;
-   out_4238693480342293986[66] = dt;
-   out_4238693480342293986[67] = 0;
-   out_4238693480342293986[68] = 0;
-   out_4238693480342293986[69] = 0;
-   out_4238693480342293986[70] = 0;
-   out_4238693480342293986[71] = 0;
-   out_4238693480342293986[72] = 0;
-   out_4238693480342293986[73] = 0;
-   out_4238693480342293986[74] = 0;
-   out_4238693480342293986[75] = 0;
-   out_4238693480342293986[76] = 1;
-   out_4238693480342293986[77] = 0;
-   out_4238693480342293986[78] = 0;
-   out_4238693480342293986[79] = 0;
-   out_4238693480342293986[80] = 0;
-   out_4238693480342293986[81] = 0;
-   out_4238693480342293986[82] = 0;
-   out_4238693480342293986[83] = 0;
-   out_4238693480342293986[84] = 0;
-   out_4238693480342293986[85] = dt;
-   out_4238693480342293986[86] = 0;
-   out_4238693480342293986[87] = 0;
-   out_4238693480342293986[88] = 0;
-   out_4238693480342293986[89] = 0;
-   out_4238693480342293986[90] = 0;
-   out_4238693480342293986[91] = 0;
-   out_4238693480342293986[92] = 0;
-   out_4238693480342293986[93] = 0;
-   out_4238693480342293986[94] = 0;
-   out_4238693480342293986[95] = 1;
-   out_4238693480342293986[96] = 0;
-   out_4238693480342293986[97] = 0;
-   out_4238693480342293986[98] = 0;
-   out_4238693480342293986[99] = 0;
-   out_4238693480342293986[100] = 0;
-   out_4238693480342293986[101] = 0;
-   out_4238693480342293986[102] = 0;
-   out_4238693480342293986[103] = 0;
-   out_4238693480342293986[104] = dt;
-   out_4238693480342293986[105] = 0;
-   out_4238693480342293986[106] = 0;
-   out_4238693480342293986[107] = 0;
-   out_4238693480342293986[108] = 0;
-   out_4238693480342293986[109] = 0;
-   out_4238693480342293986[110] = 0;
-   out_4238693480342293986[111] = 0;
-   out_4238693480342293986[112] = 0;
-   out_4238693480342293986[113] = 0;
-   out_4238693480342293986[114] = 1;
-   out_4238693480342293986[115] = 0;
-   out_4238693480342293986[116] = 0;
-   out_4238693480342293986[117] = 0;
-   out_4238693480342293986[118] = 0;
-   out_4238693480342293986[119] = 0;
-   out_4238693480342293986[120] = 0;
-   out_4238693480342293986[121] = 0;
-   out_4238693480342293986[122] = 0;
-   out_4238693480342293986[123] = 0;
-   out_4238693480342293986[124] = 0;
-   out_4238693480342293986[125] = 0;
-   out_4238693480342293986[126] = 0;
-   out_4238693480342293986[127] = 0;
-   out_4238693480342293986[128] = 0;
-   out_4238693480342293986[129] = 0;
-   out_4238693480342293986[130] = 0;
-   out_4238693480342293986[131] = 0;
-   out_4238693480342293986[132] = 0;
-   out_4238693480342293986[133] = 1;
-   out_4238693480342293986[134] = 0;
-   out_4238693480342293986[135] = 0;
-   out_4238693480342293986[136] = 0;
-   out_4238693480342293986[137] = 0;
-   out_4238693480342293986[138] = 0;
-   out_4238693480342293986[139] = 0;
-   out_4238693480342293986[140] = 0;
-   out_4238693480342293986[141] = 0;
-   out_4238693480342293986[142] = 0;
-   out_4238693480342293986[143] = 0;
-   out_4238693480342293986[144] = 0;
-   out_4238693480342293986[145] = 0;
-   out_4238693480342293986[146] = 0;
-   out_4238693480342293986[147] = 0;
-   out_4238693480342293986[148] = 0;
-   out_4238693480342293986[149] = 0;
-   out_4238693480342293986[150] = 0;
-   out_4238693480342293986[151] = 0;
-   out_4238693480342293986[152] = 1;
-   out_4238693480342293986[153] = 0;
-   out_4238693480342293986[154] = 0;
-   out_4238693480342293986[155] = 0;
-   out_4238693480342293986[156] = 0;
-   out_4238693480342293986[157] = 0;
-   out_4238693480342293986[158] = 0;
-   out_4238693480342293986[159] = 0;
-   out_4238693480342293986[160] = 0;
-   out_4238693480342293986[161] = 0;
-   out_4238693480342293986[162] = 0;
-   out_4238693480342293986[163] = 0;
-   out_4238693480342293986[164] = 0;
-   out_4238693480342293986[165] = 0;
-   out_4238693480342293986[166] = 0;
-   out_4238693480342293986[167] = 0;
-   out_4238693480342293986[168] = 0;
-   out_4238693480342293986[169] = 0;
-   out_4238693480342293986[170] = 0;
-   out_4238693480342293986[171] = 1;
-   out_4238693480342293986[172] = 0;
-   out_4238693480342293986[173] = 0;
-   out_4238693480342293986[174] = 0;
-   out_4238693480342293986[175] = 0;
-   out_4238693480342293986[176] = 0;
-   out_4238693480342293986[177] = 0;
-   out_4238693480342293986[178] = 0;
-   out_4238693480342293986[179] = 0;
-   out_4238693480342293986[180] = 0;
-   out_4238693480342293986[181] = 0;
-   out_4238693480342293986[182] = 0;
-   out_4238693480342293986[183] = 0;
-   out_4238693480342293986[184] = 0;
-   out_4238693480342293986[185] = 0;
-   out_4238693480342293986[186] = 0;
-   out_4238693480342293986[187] = 0;
-   out_4238693480342293986[188] = 0;
-   out_4238693480342293986[189] = 0;
-   out_4238693480342293986[190] = 1;
-   out_4238693480342293986[191] = 0;
-   out_4238693480342293986[192] = 0;
-   out_4238693480342293986[193] = 0;
-   out_4238693480342293986[194] = 0;
-   out_4238693480342293986[195] = 0;
-   out_4238693480342293986[196] = 0;
-   out_4238693480342293986[197] = 0;
-   out_4238693480342293986[198] = 0;
-   out_4238693480342293986[199] = 0;
-   out_4238693480342293986[200] = 0;
-   out_4238693480342293986[201] = 0;
-   out_4238693480342293986[202] = 0;
-   out_4238693480342293986[203] = 0;
-   out_4238693480342293986[204] = 0;
-   out_4238693480342293986[205] = 0;
-   out_4238693480342293986[206] = 0;
-   out_4238693480342293986[207] = 0;
-   out_4238693480342293986[208] = 0;
-   out_4238693480342293986[209] = 1;
-   out_4238693480342293986[210] = 0;
-   out_4238693480342293986[211] = 0;
-   out_4238693480342293986[212] = 0;
-   out_4238693480342293986[213] = 0;
-   out_4238693480342293986[214] = 0;
-   out_4238693480342293986[215] = 0;
-   out_4238693480342293986[216] = 0;
-   out_4238693480342293986[217] = 0;
-   out_4238693480342293986[218] = 0;
-   out_4238693480342293986[219] = 0;
-   out_4238693480342293986[220] = 0;
-   out_4238693480342293986[221] = 0;
-   out_4238693480342293986[222] = 0;
-   out_4238693480342293986[223] = 0;
-   out_4238693480342293986[224] = 0;
-   out_4238693480342293986[225] = 0;
-   out_4238693480342293986[226] = 0;
-   out_4238693480342293986[227] = 0;
-   out_4238693480342293986[228] = 1;
-   out_4238693480342293986[229] = 0;
-   out_4238693480342293986[230] = 0;
-   out_4238693480342293986[231] = 0;
-   out_4238693480342293986[232] = 0;
-   out_4238693480342293986[233] = 0;
-   out_4238693480342293986[234] = 0;
-   out_4238693480342293986[235] = 0;
-   out_4238693480342293986[236] = 0;
-   out_4238693480342293986[237] = 0;
-   out_4238693480342293986[238] = 0;
-   out_4238693480342293986[239] = 0;
-   out_4238693480342293986[240] = 0;
-   out_4238693480342293986[241] = 0;
-   out_4238693480342293986[242] = 0;
-   out_4238693480342293986[243] = 0;
-   out_4238693480342293986[244] = 0;
-   out_4238693480342293986[245] = 0;
-   out_4238693480342293986[246] = 0;
-   out_4238693480342293986[247] = 1;
-   out_4238693480342293986[248] = 0;
-   out_4238693480342293986[249] = 0;
-   out_4238693480342293986[250] = 0;
-   out_4238693480342293986[251] = 0;
-   out_4238693480342293986[252] = 0;
-   out_4238693480342293986[253] = 0;
-   out_4238693480342293986[254] = 0;
-   out_4238693480342293986[255] = 0;
-   out_4238693480342293986[256] = 0;
-   out_4238693480342293986[257] = 0;
-   out_4238693480342293986[258] = 0;
-   out_4238693480342293986[259] = 0;
-   out_4238693480342293986[260] = 0;
-   out_4238693480342293986[261] = 0;
-   out_4238693480342293986[262] = 0;
-   out_4238693480342293986[263] = 0;
-   out_4238693480342293986[264] = 0;
-   out_4238693480342293986[265] = 0;
-   out_4238693480342293986[266] = 1;
-   out_4238693480342293986[267] = 0;
-   out_4238693480342293986[268] = 0;
-   out_4238693480342293986[269] = 0;
-   out_4238693480342293986[270] = 0;
-   out_4238693480342293986[271] = 0;
-   out_4238693480342293986[272] = 0;
-   out_4238693480342293986[273] = 0;
-   out_4238693480342293986[274] = 0;
-   out_4238693480342293986[275] = 0;
-   out_4238693480342293986[276] = 0;
-   out_4238693480342293986[277] = 0;
-   out_4238693480342293986[278] = 0;
-   out_4238693480342293986[279] = 0;
-   out_4238693480342293986[280] = 0;
-   out_4238693480342293986[281] = 0;
-   out_4238693480342293986[282] = 0;
-   out_4238693480342293986[283] = 0;
-   out_4238693480342293986[284] = 0;
-   out_4238693480342293986[285] = 1;
-   out_4238693480342293986[286] = 0;
-   out_4238693480342293986[287] = 0;
-   out_4238693480342293986[288] = 0;
-   out_4238693480342293986[289] = 0;
-   out_4238693480342293986[290] = 0;
-   out_4238693480342293986[291] = 0;
-   out_4238693480342293986[292] = 0;
-   out_4238693480342293986[293] = 0;
-   out_4238693480342293986[294] = 0;
-   out_4238693480342293986[295] = 0;
-   out_4238693480342293986[296] = 0;
-   out_4238693480342293986[297] = 0;
-   out_4238693480342293986[298] = 0;
-   out_4238693480342293986[299] = 0;
-   out_4238693480342293986[300] = 0;
-   out_4238693480342293986[301] = 0;
-   out_4238693480342293986[302] = 0;
-   out_4238693480342293986[303] = 0;
-   out_4238693480342293986[304] = 1;
-   out_4238693480342293986[305] = 0;
-   out_4238693480342293986[306] = 0;
-   out_4238693480342293986[307] = 0;
-   out_4238693480342293986[308] = 0;
-   out_4238693480342293986[309] = 0;
-   out_4238693480342293986[310] = 0;
-   out_4238693480342293986[311] = 0;
-   out_4238693480342293986[312] = 0;
-   out_4238693480342293986[313] = 0;
-   out_4238693480342293986[314] = 0;
-   out_4238693480342293986[315] = 0;
-   out_4238693480342293986[316] = 0;
-   out_4238693480342293986[317] = 0;
-   out_4238693480342293986[318] = 0;
-   out_4238693480342293986[319] = 0;
-   out_4238693480342293986[320] = 0;
-   out_4238693480342293986[321] = 0;
-   out_4238693480342293986[322] = 0;
-   out_4238693480342293986[323] = 1;
+void F_fun(double *state, double dt, double *out_7572446057115886568) {
+   out_7572446057115886568[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_7572446057115886568[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_7572446057115886568[2] = 0;
+   out_7572446057115886568[3] = 0;
+   out_7572446057115886568[4] = 0;
+   out_7572446057115886568[5] = 0;
+   out_7572446057115886568[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_7572446057115886568[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_7572446057115886568[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_7572446057115886568[9] = 0;
+   out_7572446057115886568[10] = 0;
+   out_7572446057115886568[11] = 0;
+   out_7572446057115886568[12] = 0;
+   out_7572446057115886568[13] = 0;
+   out_7572446057115886568[14] = 0;
+   out_7572446057115886568[15] = 0;
+   out_7572446057115886568[16] = 0;
+   out_7572446057115886568[17] = 0;
+   out_7572446057115886568[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_7572446057115886568[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_7572446057115886568[20] = 0;
+   out_7572446057115886568[21] = 0;
+   out_7572446057115886568[22] = 0;
+   out_7572446057115886568[23] = 0;
+   out_7572446057115886568[24] = 0;
+   out_7572446057115886568[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_7572446057115886568[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_7572446057115886568[27] = 0;
+   out_7572446057115886568[28] = 0;
+   out_7572446057115886568[29] = 0;
+   out_7572446057115886568[30] = 0;
+   out_7572446057115886568[31] = 0;
+   out_7572446057115886568[32] = 0;
+   out_7572446057115886568[33] = 0;
+   out_7572446057115886568[34] = 0;
+   out_7572446057115886568[35] = 0;
+   out_7572446057115886568[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_7572446057115886568[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_7572446057115886568[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_7572446057115886568[39] = 0;
+   out_7572446057115886568[40] = 0;
+   out_7572446057115886568[41] = 0;
+   out_7572446057115886568[42] = 0;
+   out_7572446057115886568[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_7572446057115886568[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_7572446057115886568[45] = 0;
+   out_7572446057115886568[46] = 0;
+   out_7572446057115886568[47] = 0;
+   out_7572446057115886568[48] = 0;
+   out_7572446057115886568[49] = 0;
+   out_7572446057115886568[50] = 0;
+   out_7572446057115886568[51] = 0;
+   out_7572446057115886568[52] = 0;
+   out_7572446057115886568[53] = 0;
+   out_7572446057115886568[54] = 0;
+   out_7572446057115886568[55] = 0;
+   out_7572446057115886568[56] = 0;
+   out_7572446057115886568[57] = 1;
+   out_7572446057115886568[58] = 0;
+   out_7572446057115886568[59] = 0;
+   out_7572446057115886568[60] = 0;
+   out_7572446057115886568[61] = 0;
+   out_7572446057115886568[62] = 0;
+   out_7572446057115886568[63] = 0;
+   out_7572446057115886568[64] = 0;
+   out_7572446057115886568[65] = 0;
+   out_7572446057115886568[66] = dt;
+   out_7572446057115886568[67] = 0;
+   out_7572446057115886568[68] = 0;
+   out_7572446057115886568[69] = 0;
+   out_7572446057115886568[70] = 0;
+   out_7572446057115886568[71] = 0;
+   out_7572446057115886568[72] = 0;
+   out_7572446057115886568[73] = 0;
+   out_7572446057115886568[74] = 0;
+   out_7572446057115886568[75] = 0;
+   out_7572446057115886568[76] = 1;
+   out_7572446057115886568[77] = 0;
+   out_7572446057115886568[78] = 0;
+   out_7572446057115886568[79] = 0;
+   out_7572446057115886568[80] = 0;
+   out_7572446057115886568[81] = 0;
+   out_7572446057115886568[82] = 0;
+   out_7572446057115886568[83] = 0;
+   out_7572446057115886568[84] = 0;
+   out_7572446057115886568[85] = dt;
+   out_7572446057115886568[86] = 0;
+   out_7572446057115886568[87] = 0;
+   out_7572446057115886568[88] = 0;
+   out_7572446057115886568[89] = 0;
+   out_7572446057115886568[90] = 0;
+   out_7572446057115886568[91] = 0;
+   out_7572446057115886568[92] = 0;
+   out_7572446057115886568[93] = 0;
+   out_7572446057115886568[94] = 0;
+   out_7572446057115886568[95] = 1;
+   out_7572446057115886568[96] = 0;
+   out_7572446057115886568[97] = 0;
+   out_7572446057115886568[98] = 0;
+   out_7572446057115886568[99] = 0;
+   out_7572446057115886568[100] = 0;
+   out_7572446057115886568[101] = 0;
+   out_7572446057115886568[102] = 0;
+   out_7572446057115886568[103] = 0;
+   out_7572446057115886568[104] = dt;
+   out_7572446057115886568[105] = 0;
+   out_7572446057115886568[106] = 0;
+   out_7572446057115886568[107] = 0;
+   out_7572446057115886568[108] = 0;
+   out_7572446057115886568[109] = 0;
+   out_7572446057115886568[110] = 0;
+   out_7572446057115886568[111] = 0;
+   out_7572446057115886568[112] = 0;
+   out_7572446057115886568[113] = 0;
+   out_7572446057115886568[114] = 1;
+   out_7572446057115886568[115] = 0;
+   out_7572446057115886568[116] = 0;
+   out_7572446057115886568[117] = 0;
+   out_7572446057115886568[118] = 0;
+   out_7572446057115886568[119] = 0;
+   out_7572446057115886568[120] = 0;
+   out_7572446057115886568[121] = 0;
+   out_7572446057115886568[122] = 0;
+   out_7572446057115886568[123] = 0;
+   out_7572446057115886568[124] = 0;
+   out_7572446057115886568[125] = 0;
+   out_7572446057115886568[126] = 0;
+   out_7572446057115886568[127] = 0;
+   out_7572446057115886568[128] = 0;
+   out_7572446057115886568[129] = 0;
+   out_7572446057115886568[130] = 0;
+   out_7572446057115886568[131] = 0;
+   out_7572446057115886568[132] = 0;
+   out_7572446057115886568[133] = 1;
+   out_7572446057115886568[134] = 0;
+   out_7572446057115886568[135] = 0;
+   out_7572446057115886568[136] = 0;
+   out_7572446057115886568[137] = 0;
+   out_7572446057115886568[138] = 0;
+   out_7572446057115886568[139] = 0;
+   out_7572446057115886568[140] = 0;
+   out_7572446057115886568[141] = 0;
+   out_7572446057115886568[142] = 0;
+   out_7572446057115886568[143] = 0;
+   out_7572446057115886568[144] = 0;
+   out_7572446057115886568[145] = 0;
+   out_7572446057115886568[146] = 0;
+   out_7572446057115886568[147] = 0;
+   out_7572446057115886568[148] = 0;
+   out_7572446057115886568[149] = 0;
+   out_7572446057115886568[150] = 0;
+   out_7572446057115886568[151] = 0;
+   out_7572446057115886568[152] = 1;
+   out_7572446057115886568[153] = 0;
+   out_7572446057115886568[154] = 0;
+   out_7572446057115886568[155] = 0;
+   out_7572446057115886568[156] = 0;
+   out_7572446057115886568[157] = 0;
+   out_7572446057115886568[158] = 0;
+   out_7572446057115886568[159] = 0;
+   out_7572446057115886568[160] = 0;
+   out_7572446057115886568[161] = 0;
+   out_7572446057115886568[162] = 0;
+   out_7572446057115886568[163] = 0;
+   out_7572446057115886568[164] = 0;
+   out_7572446057115886568[165] = 0;
+   out_7572446057115886568[166] = 0;
+   out_7572446057115886568[167] = 0;
+   out_7572446057115886568[168] = 0;
+   out_7572446057115886568[169] = 0;
+   out_7572446057115886568[170] = 0;
+   out_7572446057115886568[171] = 1;
+   out_7572446057115886568[172] = 0;
+   out_7572446057115886568[173] = 0;
+   out_7572446057115886568[174] = 0;
+   out_7572446057115886568[175] = 0;
+   out_7572446057115886568[176] = 0;
+   out_7572446057115886568[177] = 0;
+   out_7572446057115886568[178] = 0;
+   out_7572446057115886568[179] = 0;
+   out_7572446057115886568[180] = 0;
+   out_7572446057115886568[181] = 0;
+   out_7572446057115886568[182] = 0;
+   out_7572446057115886568[183] = 0;
+   out_7572446057115886568[184] = 0;
+   out_7572446057115886568[185] = 0;
+   out_7572446057115886568[186] = 0;
+   out_7572446057115886568[187] = 0;
+   out_7572446057115886568[188] = 0;
+   out_7572446057115886568[189] = 0;
+   out_7572446057115886568[190] = 1;
+   out_7572446057115886568[191] = 0;
+   out_7572446057115886568[192] = 0;
+   out_7572446057115886568[193] = 0;
+   out_7572446057115886568[194] = 0;
+   out_7572446057115886568[195] = 0;
+   out_7572446057115886568[196] = 0;
+   out_7572446057115886568[197] = 0;
+   out_7572446057115886568[198] = 0;
+   out_7572446057115886568[199] = 0;
+   out_7572446057115886568[200] = 0;
+   out_7572446057115886568[201] = 0;
+   out_7572446057115886568[202] = 0;
+   out_7572446057115886568[203] = 0;
+   out_7572446057115886568[204] = 0;
+   out_7572446057115886568[205] = 0;
+   out_7572446057115886568[206] = 0;
+   out_7572446057115886568[207] = 0;
+   out_7572446057115886568[208] = 0;
+   out_7572446057115886568[209] = 1;
+   out_7572446057115886568[210] = 0;
+   out_7572446057115886568[211] = 0;
+   out_7572446057115886568[212] = 0;
+   out_7572446057115886568[213] = 0;
+   out_7572446057115886568[214] = 0;
+   out_7572446057115886568[215] = 0;
+   out_7572446057115886568[216] = 0;
+   out_7572446057115886568[217] = 0;
+   out_7572446057115886568[218] = 0;
+   out_7572446057115886568[219] = 0;
+   out_7572446057115886568[220] = 0;
+   out_7572446057115886568[221] = 0;
+   out_7572446057115886568[222] = 0;
+   out_7572446057115886568[223] = 0;
+   out_7572446057115886568[224] = 0;
+   out_7572446057115886568[225] = 0;
+   out_7572446057115886568[226] = 0;
+   out_7572446057115886568[227] = 0;
+   out_7572446057115886568[228] = 1;
+   out_7572446057115886568[229] = 0;
+   out_7572446057115886568[230] = 0;
+   out_7572446057115886568[231] = 0;
+   out_7572446057115886568[232] = 0;
+   out_7572446057115886568[233] = 0;
+   out_7572446057115886568[234] = 0;
+   out_7572446057115886568[235] = 0;
+   out_7572446057115886568[236] = 0;
+   out_7572446057115886568[237] = 0;
+   out_7572446057115886568[238] = 0;
+   out_7572446057115886568[239] = 0;
+   out_7572446057115886568[240] = 0;
+   out_7572446057115886568[241] = 0;
+   out_7572446057115886568[242] = 0;
+   out_7572446057115886568[243] = 0;
+   out_7572446057115886568[244] = 0;
+   out_7572446057115886568[245] = 0;
+   out_7572446057115886568[246] = 0;
+   out_7572446057115886568[247] = 1;
+   out_7572446057115886568[248] = 0;
+   out_7572446057115886568[249] = 0;
+   out_7572446057115886568[250] = 0;
+   out_7572446057115886568[251] = 0;
+   out_7572446057115886568[252] = 0;
+   out_7572446057115886568[253] = 0;
+   out_7572446057115886568[254] = 0;
+   out_7572446057115886568[255] = 0;
+   out_7572446057115886568[256] = 0;
+   out_7572446057115886568[257] = 0;
+   out_7572446057115886568[258] = 0;
+   out_7572446057115886568[259] = 0;
+   out_7572446057115886568[260] = 0;
+   out_7572446057115886568[261] = 0;
+   out_7572446057115886568[262] = 0;
+   out_7572446057115886568[263] = 0;
+   out_7572446057115886568[264] = 0;
+   out_7572446057115886568[265] = 0;
+   out_7572446057115886568[266] = 1;
+   out_7572446057115886568[267] = 0;
+   out_7572446057115886568[268] = 0;
+   out_7572446057115886568[269] = 0;
+   out_7572446057115886568[270] = 0;
+   out_7572446057115886568[271] = 0;
+   out_7572446057115886568[272] = 0;
+   out_7572446057115886568[273] = 0;
+   out_7572446057115886568[274] = 0;
+   out_7572446057115886568[275] = 0;
+   out_7572446057115886568[276] = 0;
+   out_7572446057115886568[277] = 0;
+   out_7572446057115886568[278] = 0;
+   out_7572446057115886568[279] = 0;
+   out_7572446057115886568[280] = 0;
+   out_7572446057115886568[281] = 0;
+   out_7572446057115886568[282] = 0;
+   out_7572446057115886568[283] = 0;
+   out_7572446057115886568[284] = 0;
+   out_7572446057115886568[285] = 1;
+   out_7572446057115886568[286] = 0;
+   out_7572446057115886568[287] = 0;
+   out_7572446057115886568[288] = 0;
+   out_7572446057115886568[289] = 0;
+   out_7572446057115886568[290] = 0;
+   out_7572446057115886568[291] = 0;
+   out_7572446057115886568[292] = 0;
+   out_7572446057115886568[293] = 0;
+   out_7572446057115886568[294] = 0;
+   out_7572446057115886568[295] = 0;
+   out_7572446057115886568[296] = 0;
+   out_7572446057115886568[297] = 0;
+   out_7572446057115886568[298] = 0;
+   out_7572446057115886568[299] = 0;
+   out_7572446057115886568[300] = 0;
+   out_7572446057115886568[301] = 0;
+   out_7572446057115886568[302] = 0;
+   out_7572446057115886568[303] = 0;
+   out_7572446057115886568[304] = 1;
+   out_7572446057115886568[305] = 0;
+   out_7572446057115886568[306] = 0;
+   out_7572446057115886568[307] = 0;
+   out_7572446057115886568[308] = 0;
+   out_7572446057115886568[309] = 0;
+   out_7572446057115886568[310] = 0;
+   out_7572446057115886568[311] = 0;
+   out_7572446057115886568[312] = 0;
+   out_7572446057115886568[313] = 0;
+   out_7572446057115886568[314] = 0;
+   out_7572446057115886568[315] = 0;
+   out_7572446057115886568[316] = 0;
+   out_7572446057115886568[317] = 0;
+   out_7572446057115886568[318] = 0;
+   out_7572446057115886568[319] = 0;
+   out_7572446057115886568[320] = 0;
+   out_7572446057115886568[321] = 0;
+   out_7572446057115886568[322] = 0;
+   out_7572446057115886568[323] = 1;
 }
-void h_4(double *state, double *unused, double *out_2471379555464088728) {
-   out_2471379555464088728[0] = state[6] + state[9];
-   out_2471379555464088728[1] = state[7] + state[10];
-   out_2471379555464088728[2] = state[8] + state[11];
+void h_4(double *state, double *unused, double *out_2003156353488409837) {
+   out_2003156353488409837[0] = state[6] + state[9];
+   out_2003156353488409837[1] = state[7] + state[10];
+   out_2003156353488409837[2] = state[8] + state[11];
 }
-void H_4(double *state, double *unused, double *out_8322650689276124979) {
-   out_8322650689276124979[0] = 0;
-   out_8322650689276124979[1] = 0;
-   out_8322650689276124979[2] = 0;
-   out_8322650689276124979[3] = 0;
-   out_8322650689276124979[4] = 0;
-   out_8322650689276124979[5] = 0;
-   out_8322650689276124979[6] = 1;
-   out_8322650689276124979[7] = 0;
-   out_8322650689276124979[8] = 0;
-   out_8322650689276124979[9] = 1;
-   out_8322650689276124979[10] = 0;
-   out_8322650689276124979[11] = 0;
-   out_8322650689276124979[12] = 0;
-   out_8322650689276124979[13] = 0;
-   out_8322650689276124979[14] = 0;
-   out_8322650689276124979[15] = 0;
-   out_8322650689276124979[16] = 0;
-   out_8322650689276124979[17] = 0;
-   out_8322650689276124979[18] = 0;
-   out_8322650689276124979[19] = 0;
-   out_8322650689276124979[20] = 0;
-   out_8322650689276124979[21] = 0;
-   out_8322650689276124979[22] = 0;
-   out_8322650689276124979[23] = 0;
-   out_8322650689276124979[24] = 0;
-   out_8322650689276124979[25] = 1;
-   out_8322650689276124979[26] = 0;
-   out_8322650689276124979[27] = 0;
-   out_8322650689276124979[28] = 1;
-   out_8322650689276124979[29] = 0;
-   out_8322650689276124979[30] = 0;
-   out_8322650689276124979[31] = 0;
-   out_8322650689276124979[32] = 0;
-   out_8322650689276124979[33] = 0;
-   out_8322650689276124979[34] = 0;
-   out_8322650689276124979[35] = 0;
-   out_8322650689276124979[36] = 0;
-   out_8322650689276124979[37] = 0;
-   out_8322650689276124979[38] = 0;
-   out_8322650689276124979[39] = 0;
-   out_8322650689276124979[40] = 0;
-   out_8322650689276124979[41] = 0;
-   out_8322650689276124979[42] = 0;
-   out_8322650689276124979[43] = 0;
-   out_8322650689276124979[44] = 1;
-   out_8322650689276124979[45] = 0;
-   out_8322650689276124979[46] = 0;
-   out_8322650689276124979[47] = 1;
-   out_8322650689276124979[48] = 0;
-   out_8322650689276124979[49] = 0;
-   out_8322650689276124979[50] = 0;
-   out_8322650689276124979[51] = 0;
-   out_8322650689276124979[52] = 0;
-   out_8322650689276124979[53] = 0;
+void H_4(double *state, double *unused, double *out_9153984278238564615) {
+   out_9153984278238564615[0] = 0;
+   out_9153984278238564615[1] = 0;
+   out_9153984278238564615[2] = 0;
+   out_9153984278238564615[3] = 0;
+   out_9153984278238564615[4] = 0;
+   out_9153984278238564615[5] = 0;
+   out_9153984278238564615[6] = 1;
+   out_9153984278238564615[7] = 0;
+   out_9153984278238564615[8] = 0;
+   out_9153984278238564615[9] = 1;
+   out_9153984278238564615[10] = 0;
+   out_9153984278238564615[11] = 0;
+   out_9153984278238564615[12] = 0;
+   out_9153984278238564615[13] = 0;
+   out_9153984278238564615[14] = 0;
+   out_9153984278238564615[15] = 0;
+   out_9153984278238564615[16] = 0;
+   out_9153984278238564615[17] = 0;
+   out_9153984278238564615[18] = 0;
+   out_9153984278238564615[19] = 0;
+   out_9153984278238564615[20] = 0;
+   out_9153984278238564615[21] = 0;
+   out_9153984278238564615[22] = 0;
+   out_9153984278238564615[23] = 0;
+   out_9153984278238564615[24] = 0;
+   out_9153984278238564615[25] = 1;
+   out_9153984278238564615[26] = 0;
+   out_9153984278238564615[27] = 0;
+   out_9153984278238564615[28] = 1;
+   out_9153984278238564615[29] = 0;
+   out_9153984278238564615[30] = 0;
+   out_9153984278238564615[31] = 0;
+   out_9153984278238564615[32] = 0;
+   out_9153984278238564615[33] = 0;
+   out_9153984278238564615[34] = 0;
+   out_9153984278238564615[35] = 0;
+   out_9153984278238564615[36] = 0;
+   out_9153984278238564615[37] = 0;
+   out_9153984278238564615[38] = 0;
+   out_9153984278238564615[39] = 0;
+   out_9153984278238564615[40] = 0;
+   out_9153984278238564615[41] = 0;
+   out_9153984278238564615[42] = 0;
+   out_9153984278238564615[43] = 0;
+   out_9153984278238564615[44] = 1;
+   out_9153984278238564615[45] = 0;
+   out_9153984278238564615[46] = 0;
+   out_9153984278238564615[47] = 1;
+   out_9153984278238564615[48] = 0;
+   out_9153984278238564615[49] = 0;
+   out_9153984278238564615[50] = 0;
+   out_9153984278238564615[51] = 0;
+   out_9153984278238564615[52] = 0;
+   out_9153984278238564615[53] = 0;
 }
-void h_10(double *state, double *unused, double *out_5249786927742937080) {
-   out_5249786927742937080[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15];
-   out_5249786927742937080[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16];
-   out_5249786927742937080[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17];
+void h_10(double *state, double *unused, double *out_8299050468126391648) {
+   out_8299050468126391648[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15];
+   out_8299050468126391648[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16];
+   out_8299050468126391648[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17];
 }
-void H_10(double *state, double *unused, double *out_8433765414018862422) {
-   out_8433765414018862422[0] = 0;
-   out_8433765414018862422[1] = 9.8100000000000005*cos(state[1]);
-   out_8433765414018862422[2] = 0;
-   out_8433765414018862422[3] = 0;
-   out_8433765414018862422[4] = -state[8];
-   out_8433765414018862422[5] = state[7];
-   out_8433765414018862422[6] = 0;
-   out_8433765414018862422[7] = state[5];
-   out_8433765414018862422[8] = -state[4];
-   out_8433765414018862422[9] = 0;
-   out_8433765414018862422[10] = 0;
-   out_8433765414018862422[11] = 0;
-   out_8433765414018862422[12] = 1;
-   out_8433765414018862422[13] = 0;
-   out_8433765414018862422[14] = 0;
-   out_8433765414018862422[15] = 1;
-   out_8433765414018862422[16] = 0;
-   out_8433765414018862422[17] = 0;
-   out_8433765414018862422[18] = -9.8100000000000005*cos(state[0])*cos(state[1]);
-   out_8433765414018862422[19] = 9.8100000000000005*sin(state[0])*sin(state[1]);
-   out_8433765414018862422[20] = 0;
-   out_8433765414018862422[21] = state[8];
-   out_8433765414018862422[22] = 0;
-   out_8433765414018862422[23] = -state[6];
-   out_8433765414018862422[24] = -state[5];
-   out_8433765414018862422[25] = 0;
-   out_8433765414018862422[26] = state[3];
-   out_8433765414018862422[27] = 0;
-   out_8433765414018862422[28] = 0;
-   out_8433765414018862422[29] = 0;
-   out_8433765414018862422[30] = 0;
-   out_8433765414018862422[31] = 1;
-   out_8433765414018862422[32] = 0;
-   out_8433765414018862422[33] = 0;
-   out_8433765414018862422[34] = 1;
-   out_8433765414018862422[35] = 0;
-   out_8433765414018862422[36] = 9.8100000000000005*sin(state[0])*cos(state[1]);
-   out_8433765414018862422[37] = 9.8100000000000005*sin(state[1])*cos(state[0]);
-   out_8433765414018862422[38] = 0;
-   out_8433765414018862422[39] = -state[7];
-   out_8433765414018862422[40] = state[6];
-   out_8433765414018862422[41] = 0;
-   out_8433765414018862422[42] = state[4];
-   out_8433765414018862422[43] = -state[3];
-   out_8433765414018862422[44] = 0;
-   out_8433765414018862422[45] = 0;
-   out_8433765414018862422[46] = 0;
-   out_8433765414018862422[47] = 0;
-   out_8433765414018862422[48] = 0;
-   out_8433765414018862422[49] = 0;
-   out_8433765414018862422[50] = 1;
-   out_8433765414018862422[51] = 0;
-   out_8433765414018862422[52] = 0;
-   out_8433765414018862422[53] = 1;
+void H_10(double *state, double *unused, double *out_2268983315058168095) {
+   out_2268983315058168095[0] = 0;
+   out_2268983315058168095[1] = 9.8100000000000005*cos(state[1]);
+   out_2268983315058168095[2] = 0;
+   out_2268983315058168095[3] = 0;
+   out_2268983315058168095[4] = -state[8];
+   out_2268983315058168095[5] = state[7];
+   out_2268983315058168095[6] = 0;
+   out_2268983315058168095[7] = state[5];
+   out_2268983315058168095[8] = -state[4];
+   out_2268983315058168095[9] = 0;
+   out_2268983315058168095[10] = 0;
+   out_2268983315058168095[11] = 0;
+   out_2268983315058168095[12] = 1;
+   out_2268983315058168095[13] = 0;
+   out_2268983315058168095[14] = 0;
+   out_2268983315058168095[15] = 1;
+   out_2268983315058168095[16] = 0;
+   out_2268983315058168095[17] = 0;
+   out_2268983315058168095[18] = -9.8100000000000005*cos(state[0])*cos(state[1]);
+   out_2268983315058168095[19] = 9.8100000000000005*sin(state[0])*sin(state[1]);
+   out_2268983315058168095[20] = 0;
+   out_2268983315058168095[21] = state[8];
+   out_2268983315058168095[22] = 0;
+   out_2268983315058168095[23] = -state[6];
+   out_2268983315058168095[24] = -state[5];
+   out_2268983315058168095[25] = 0;
+   out_2268983315058168095[26] = state[3];
+   out_2268983315058168095[27] = 0;
+   out_2268983315058168095[28] = 0;
+   out_2268983315058168095[29] = 0;
+   out_2268983315058168095[30] = 0;
+   out_2268983315058168095[31] = 1;
+   out_2268983315058168095[32] = 0;
+   out_2268983315058168095[33] = 0;
+   out_2268983315058168095[34] = 1;
+   out_2268983315058168095[35] = 0;
+   out_2268983315058168095[36] = 9.8100000000000005*sin(state[0])*cos(state[1]);
+   out_2268983315058168095[37] = 9.8100000000000005*sin(state[1])*cos(state[0]);
+   out_2268983315058168095[38] = 0;
+   out_2268983315058168095[39] = -state[7];
+   out_2268983315058168095[40] = state[6];
+   out_2268983315058168095[41] = 0;
+   out_2268983315058168095[42] = state[4];
+   out_2268983315058168095[43] = -state[3];
+   out_2268983315058168095[44] = 0;
+   out_2268983315058168095[45] = 0;
+   out_2268983315058168095[46] = 0;
+   out_2268983315058168095[47] = 0;
+   out_2268983315058168095[48] = 0;
+   out_2268983315058168095[49] = 0;
+   out_2268983315058168095[50] = 1;
+   out_2268983315058168095[51] = 0;
+   out_2268983315058168095[52] = 0;
+   out_2268983315058168095[53] = 1;
 }
-void h_13(double *state, double *unused, double *out_3320787694222680609) {
-   out_3320787694222680609[0] = state[3];
-   out_3320787694222680609[1] = state[4];
-   out_3320787694222680609[2] = state[5];
+void h_13(double *state, double *unused, double *out_8163970253337406046) {
+   out_8163970253337406046[0] = state[3];
+   out_8163970253337406046[1] = state[4];
+   out_8163970253337406046[2] = state[5];
 }
-void H_13(double *state, double *unused, double *out_6911819559101093836) {
-   out_6911819559101093836[0] = 0;
-   out_6911819559101093836[1] = 0;
-   out_6911819559101093836[2] = 0;
-   out_6911819559101093836[3] = 1;
-   out_6911819559101093836[4] = 0;
-   out_6911819559101093836[5] = 0;
-   out_6911819559101093836[6] = 0;
-   out_6911819559101093836[7] = 0;
-   out_6911819559101093836[8] = 0;
-   out_6911819559101093836[9] = 0;
-   out_6911819559101093836[10] = 0;
-   out_6911819559101093836[11] = 0;
-   out_6911819559101093836[12] = 0;
-   out_6911819559101093836[13] = 0;
-   out_6911819559101093836[14] = 0;
-   out_6911819559101093836[15] = 0;
-   out_6911819559101093836[16] = 0;
-   out_6911819559101093836[17] = 0;
-   out_6911819559101093836[18] = 0;
-   out_6911819559101093836[19] = 0;
-   out_6911819559101093836[20] = 0;
-   out_6911819559101093836[21] = 0;
-   out_6911819559101093836[22] = 1;
-   out_6911819559101093836[23] = 0;
-   out_6911819559101093836[24] = 0;
-   out_6911819559101093836[25] = 0;
-   out_6911819559101093836[26] = 0;
-   out_6911819559101093836[27] = 0;
-   out_6911819559101093836[28] = 0;
-   out_6911819559101093836[29] = 0;
-   out_6911819559101093836[30] = 0;
-   out_6911819559101093836[31] = 0;
-   out_6911819559101093836[32] = 0;
-   out_6911819559101093836[33] = 0;
-   out_6911819559101093836[34] = 0;
-   out_6911819559101093836[35] = 0;
-   out_6911819559101093836[36] = 0;
-   out_6911819559101093836[37] = 0;
-   out_6911819559101093836[38] = 0;
-   out_6911819559101093836[39] = 0;
-   out_6911819559101093836[40] = 0;
-   out_6911819559101093836[41] = 1;
-   out_6911819559101093836[42] = 0;
-   out_6911819559101093836[43] = 0;
-   out_6911819559101093836[44] = 0;
-   out_6911819559101093836[45] = 0;
-   out_6911819559101093836[46] = 0;
-   out_6911819559101093836[47] = 0;
-   out_6911819559101093836[48] = 0;
-   out_6911819559101093836[49] = 0;
-   out_6911819559101093836[50] = 0;
-   out_6911819559101093836[51] = 0;
-   out_6911819559101093836[52] = 0;
-   out_6911819559101093836[53] = 0;
+void H_13(double *state, double *unused, double *out_1543353069921863686) {
+   out_1543353069921863686[0] = 0;
+   out_1543353069921863686[1] = 0;
+   out_1543353069921863686[2] = 0;
+   out_1543353069921863686[3] = 1;
+   out_1543353069921863686[4] = 0;
+   out_1543353069921863686[5] = 0;
+   out_1543353069921863686[6] = 0;
+   out_1543353069921863686[7] = 0;
+   out_1543353069921863686[8] = 0;
+   out_1543353069921863686[9] = 0;
+   out_1543353069921863686[10] = 0;
+   out_1543353069921863686[11] = 0;
+   out_1543353069921863686[12] = 0;
+   out_1543353069921863686[13] = 0;
+   out_1543353069921863686[14] = 0;
+   out_1543353069921863686[15] = 0;
+   out_1543353069921863686[16] = 0;
+   out_1543353069921863686[17] = 0;
+   out_1543353069921863686[18] = 0;
+   out_1543353069921863686[19] = 0;
+   out_1543353069921863686[20] = 0;
+   out_1543353069921863686[21] = 0;
+   out_1543353069921863686[22] = 1;
+   out_1543353069921863686[23] = 0;
+   out_1543353069921863686[24] = 0;
+   out_1543353069921863686[25] = 0;
+   out_1543353069921863686[26] = 0;
+   out_1543353069921863686[27] = 0;
+   out_1543353069921863686[28] = 0;
+   out_1543353069921863686[29] = 0;
+   out_1543353069921863686[30] = 0;
+   out_1543353069921863686[31] = 0;
+   out_1543353069921863686[32] = 0;
+   out_1543353069921863686[33] = 0;
+   out_1543353069921863686[34] = 0;
+   out_1543353069921863686[35] = 0;
+   out_1543353069921863686[36] = 0;
+   out_1543353069921863686[37] = 0;
+   out_1543353069921863686[38] = 0;
+   out_1543353069921863686[39] = 0;
+   out_1543353069921863686[40] = 0;
+   out_1543353069921863686[41] = 1;
+   out_1543353069921863686[42] = 0;
+   out_1543353069921863686[43] = 0;
+   out_1543353069921863686[44] = 0;
+   out_1543353069921863686[45] = 0;
+   out_1543353069921863686[46] = 0;
+   out_1543353069921863686[47] = 0;
+   out_1543353069921863686[48] = 0;
+   out_1543353069921863686[49] = 0;
+   out_1543353069921863686[50] = 0;
+   out_1543353069921863686[51] = 0;
+   out_1543353069921863686[52] = 0;
+   out_1543353069921863686[53] = 0;
 }
-void h_14(double *state, double *unused, double *out_7880969684345092326) {
-   out_7880969684345092326[0] = state[6];
-   out_7880969684345092326[1] = state[7];
-   out_7880969684345092326[2] = state[8];
+void h_14(double *state, double *unused, double *out_7902513815616600364) {
+   out_7902513815616600364[0] = state[6];
+   out_7902513815616600364[1] = state[7];
+   out_7902513815616600364[2] = state[8];
 }
-void H_14(double *state, double *unused, double *out_6160852528093942108) {
-   out_6160852528093942108[0] = 0;
-   out_6160852528093942108[1] = 0;
-   out_6160852528093942108[2] = 0;
-   out_6160852528093942108[3] = 0;
-   out_6160852528093942108[4] = 0;
-   out_6160852528093942108[5] = 0;
-   out_6160852528093942108[6] = 1;
-   out_6160852528093942108[7] = 0;
-   out_6160852528093942108[8] = 0;
-   out_6160852528093942108[9] = 0;
-   out_6160852528093942108[10] = 0;
-   out_6160852528093942108[11] = 0;
-   out_6160852528093942108[12] = 0;
-   out_6160852528093942108[13] = 0;
-   out_6160852528093942108[14] = 0;
-   out_6160852528093942108[15] = 0;
-   out_6160852528093942108[16] = 0;
-   out_6160852528093942108[17] = 0;
-   out_6160852528093942108[18] = 0;
-   out_6160852528093942108[19] = 0;
-   out_6160852528093942108[20] = 0;
-   out_6160852528093942108[21] = 0;
-   out_6160852528093942108[22] = 0;
-   out_6160852528093942108[23] = 0;
-   out_6160852528093942108[24] = 0;
-   out_6160852528093942108[25] = 1;
-   out_6160852528093942108[26] = 0;
-   out_6160852528093942108[27] = 0;
-   out_6160852528093942108[28] = 0;
-   out_6160852528093942108[29] = 0;
-   out_6160852528093942108[30] = 0;
-   out_6160852528093942108[31] = 0;
-   out_6160852528093942108[32] = 0;
-   out_6160852528093942108[33] = 0;
-   out_6160852528093942108[34] = 0;
-   out_6160852528093942108[35] = 0;
-   out_6160852528093942108[36] = 0;
-   out_6160852528093942108[37] = 0;
-   out_6160852528093942108[38] = 0;
-   out_6160852528093942108[39] = 0;
-   out_6160852528093942108[40] = 0;
-   out_6160852528093942108[41] = 0;
-   out_6160852528093942108[42] = 0;
-   out_6160852528093942108[43] = 0;
-   out_6160852528093942108[44] = 1;
-   out_6160852528093942108[45] = 0;
-   out_6160852528093942108[46] = 0;
-   out_6160852528093942108[47] = 0;
-   out_6160852528093942108[48] = 0;
-   out_6160852528093942108[49] = 0;
-   out_6160852528093942108[50] = 0;
-   out_6160852528093942108[51] = 0;
-   out_6160852528093942108[52] = 0;
-   out_6160852528093942108[53] = 0;
+void H_14(double *state, double *unused, double *out_5190743421899080086) {
+   out_5190743421899080086[0] = 0;
+   out_5190743421899080086[1] = 0;
+   out_5190743421899080086[2] = 0;
+   out_5190743421899080086[3] = 0;
+   out_5190743421899080086[4] = 0;
+   out_5190743421899080086[5] = 0;
+   out_5190743421899080086[6] = 1;
+   out_5190743421899080086[7] = 0;
+   out_5190743421899080086[8] = 0;
+   out_5190743421899080086[9] = 0;
+   out_5190743421899080086[10] = 0;
+   out_5190743421899080086[11] = 0;
+   out_5190743421899080086[12] = 0;
+   out_5190743421899080086[13] = 0;
+   out_5190743421899080086[14] = 0;
+   out_5190743421899080086[15] = 0;
+   out_5190743421899080086[16] = 0;
+   out_5190743421899080086[17] = 0;
+   out_5190743421899080086[18] = 0;
+   out_5190743421899080086[19] = 0;
+   out_5190743421899080086[20] = 0;
+   out_5190743421899080086[21] = 0;
+   out_5190743421899080086[22] = 0;
+   out_5190743421899080086[23] = 0;
+   out_5190743421899080086[24] = 0;
+   out_5190743421899080086[25] = 1;
+   out_5190743421899080086[26] = 0;
+   out_5190743421899080086[27] = 0;
+   out_5190743421899080086[28] = 0;
+   out_5190743421899080086[29] = 0;
+   out_5190743421899080086[30] = 0;
+   out_5190743421899080086[31] = 0;
+   out_5190743421899080086[32] = 0;
+   out_5190743421899080086[33] = 0;
+   out_5190743421899080086[34] = 0;
+   out_5190743421899080086[35] = 0;
+   out_5190743421899080086[36] = 0;
+   out_5190743421899080086[37] = 0;
+   out_5190743421899080086[38] = 0;
+   out_5190743421899080086[39] = 0;
+   out_5190743421899080086[40] = 0;
+   out_5190743421899080086[41] = 0;
+   out_5190743421899080086[42] = 0;
+   out_5190743421899080086[43] = 0;
+   out_5190743421899080086[44] = 1;
+   out_5190743421899080086[45] = 0;
+   out_5190743421899080086[46] = 0;
+   out_5190743421899080086[47] = 0;
+   out_5190743421899080086[48] = 0;
+   out_5190743421899080086[49] = 0;
+   out_5190743421899080086[50] = 0;
+   out_5190743421899080086[51] = 0;
+   out_5190743421899080086[52] = 0;
+   out_5190743421899080086[53] = 0;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
   update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14);
 }
-void pose_err_fun(double *nom_x, double *delta_x, double *out_5983304822532396966) {
-  err_fun(nom_x, delta_x, out_5983304822532396966);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_8743288361506485614) {
+  err_fun(nom_x, delta_x, out_8743288361506485614);
 }
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6802128044019654079) {
-  inv_err_fun(nom_x, true_x, out_6802128044019654079);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7700232313042684193) {
+  inv_err_fun(nom_x, true_x, out_7700232313042684193);
 }
-void pose_H_mod_fun(double *state, double *out_3170132304237044244) {
-  H_mod_fun(state, out_3170132304237044244);
+void pose_H_mod_fun(double *state, double *out_5879762199447615362) {
+  H_mod_fun(state, out_5879762199447615362);
 }
-void pose_f_fun(double *state, double dt, double *out_8255079778207779351) {
-  f_fun(state,  dt, out_8255079778207779351);
+void pose_f_fun(double *state, double dt, double *out_9125558702662429027) {
+  f_fun(state,  dt, out_9125558702662429027);
 }
-void pose_F_fun(double *state, double dt, double *out_4238693480342293986) {
-  F_fun(state,  dt, out_4238693480342293986);
+void pose_F_fun(double *state, double dt, double *out_7572446057115886568) {
+  F_fun(state,  dt, out_7572446057115886568);
 }
-void pose_h_4(double *state, double *unused, double *out_2471379555464088728) {
-  h_4(state, unused, out_2471379555464088728);
+void pose_h_4(double *state, double *unused, double *out_2003156353488409837) {
+  h_4(state, unused, out_2003156353488409837);
 }
-void pose_H_4(double *state, double *unused, double *out_8322650689276124979) {
-  H_4(state, unused, out_8322650689276124979);
+void pose_H_4(double *state, double *unused, double *out_9153984278238564615) {
+  H_4(state, unused, out_9153984278238564615);
 }
-void pose_h_10(double *state, double *unused, double *out_5249786927742937080) {
-  h_10(state, unused, out_5249786927742937080);
+void pose_h_10(double *state, double *unused, double *out_8299050468126391648) {
+  h_10(state, unused, out_8299050468126391648);
 }
-void pose_H_10(double *state, double *unused, double *out_8433765414018862422) {
-  H_10(state, unused, out_8433765414018862422);
+void pose_H_10(double *state, double *unused, double *out_2268983315058168095) {
+  H_10(state, unused, out_2268983315058168095);
 }
-void pose_h_13(double *state, double *unused, double *out_3320787694222680609) {
-  h_13(state, unused, out_3320787694222680609);
+void pose_h_13(double *state, double *unused, double *out_8163970253337406046) {
+  h_13(state, unused, out_8163970253337406046);
 }
-void pose_H_13(double *state, double *unused, double *out_6911819559101093836) {
-  H_13(state, unused, out_6911819559101093836);
+void pose_H_13(double *state, double *unused, double *out_1543353069921863686) {
+  H_13(state, unused, out_1543353069921863686);
 }
-void pose_h_14(double *state, double *unused, double *out_7880969684345092326) {
-  h_14(state, unused, out_7880969684345092326);
+void pose_h_14(double *state, double *unused, double *out_7902513815616600364) {
+  h_14(state, unused, out_7902513815616600364);
 }
-void pose_H_14(double *state, double *unused, double *out_6160852528093942108) {
-  H_14(state, unused, out_6160852528093942108);
+void pose_H_14(double *state, double *unused, double *out_5190743421899080086) {
+  H_14(state, unused, out_5190743421899080086);
 }
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);
diff --git a/openpilot/selfdrive/locationd/models/generated/pose.h b/openpilot/selfdrive/locationd/models/generated/pose.h
index 39bed403be..4aacb155ce 100644
--- a/openpilot/selfdrive/locationd/models/generated/pose.h
+++ b/openpilot/selfdrive/locationd/models/generated/pose.h
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_5983304822532396966);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6802128044019654079);
-void pose_H_mod_fun(double *state, double *out_3170132304237044244);
-void pose_f_fun(double *state, double dt, double *out_8255079778207779351);
-void pose_F_fun(double *state, double dt, double *out_4238693480342293986);
-void pose_h_4(double *state, double *unused, double *out_2471379555464088728);
-void pose_H_4(double *state, double *unused, double *out_8322650689276124979);
-void pose_h_10(double *state, double *unused, double *out_5249786927742937080);
-void pose_H_10(double *state, double *unused, double *out_8433765414018862422);
-void pose_h_13(double *state, double *unused, double *out_3320787694222680609);
-void pose_H_13(double *state, double *unused, double *out_6911819559101093836);
-void pose_h_14(double *state, double *unused, double *out_7880969684345092326);
-void pose_H_14(double *state, double *unused, double *out_6160852528093942108);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_8743288361506485614);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7700232313042684193);
+void pose_H_mod_fun(double *state, double *out_5879762199447615362);
+void pose_f_fun(double *state, double dt, double *out_9125558702662429027);
+void pose_F_fun(double *state, double dt, double *out_7572446057115886568);
+void pose_h_4(double *state, double *unused, double *out_2003156353488409837);
+void pose_H_4(double *state, double *unused, double *out_9153984278238564615);
+void pose_h_10(double *state, double *unused, double *out_8299050468126391648);
+void pose_H_10(double *state, double *unused, double *out_2268983315058168095);
+void pose_h_13(double *state, double *unused, double *out_8163970253337406046);
+void pose_H_13(double *state, double *unused, double *out_1543353069921863686);
+void pose_h_14(double *state, double *unused, double *out_7902513815616600364);
+void pose_H_14(double *state, double *unused, double *out_5190743421899080086);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
\ No newline at end of file
diff --git a/openpilot/selfdrive/pandad/pandad b/openpilot/selfdrive/pandad/pandad
index df710dda1f69c2b5f32767f61878a9a939a555f2..6b086ed30cf2e38f3e9d385a6680947e934e63cf 100755
GIT binary patch
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diff --git a/openpilot/system/camerad/camerad b/openpilot/system/camerad/camerad
index f7d091a75ccdad85930861326e10fd11bb47661c..f603567de52d687d934e91c8f5de35bbd8360310 100755
GIT binary patch
delta 1333
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delta 1333
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zun%Kj<bGJX*Q58IW#KFM8Z6|%!8gzXdH5FA!a7(Ft*`;wpdB{CCfE!e&<R^$D|Ep&
n*bY0O0Nt<?cENYB8}>jC6k#uX4?jRJ{0M!}KXdQdKyLUmBV#ra

diff --git a/openpilot/system/loggerd/bootlog b/openpilot/system/loggerd/bootlog
index 19122b18a72bd2ebb49de427c4a33807677dbbe1..7b33995c4f037339048dd4cf87aad830aa6f755d 100755
GIT binary patch
delta 1229
zcmY+=Pe_zO7{~FQKdbrf>)TtIle62DTUqHeIU3=uA_`A=i73Jd@*s36GU^Z*6!@q0
zX01kt0t1WE4FoHcFf6M}85Y{9KN2Vy9ipfd`n{K>IeeMJ=YfZ3zCU?QzN6d?S~7O#
z$JwJ}>ECZAo__pv<l4F3;m`I`j<)3}LD9<)M{!hu3ehrDG@PTJ_p~rW>~l|bWyi+7
zlGX)c-+SsCkzJo-u~@2)ruu2DHvZKkYLVElo?0TZ*P)-FB(*<1m7?;tLj?(<B(ntx
zm1OdPL#3cy%$6q9ZYD?bbUa#C0Xx8KMM5<&`7&=2?F2P4yECDVG5OA+{h$G6_b1dK
zlb;+q1gfO=P(oE@hn{(V)0510`syu{r@#Dv<#nGZ%I$SuvFzk?{Kge(@A@i3Wrs8O
z7;_`kKK9ipl~)~l1uA0pm9IP|Z#nb<RL<=OU!}Rc@6bG`hTC~x)pGeLPy3>i|G+x9
z{o|`nE}!KsBCnXJX>Pq@HN)kkLlQK{tt?jaZFeTT;X4zF8?&t$Vh#qni-?vJBo-@c
zj+dQ`$ExE^0nrP@GzIz_5f>e50WA{K66hr&G7en^C8@a_=oA$_4t0YhGu?qsGSQc(
z)@WHDY!@?qf!@tTE^iSHfetV;6zB#fMjRRkH8L|E=wnR0aA*oNz|2&j2bq|1XckmS
z&1|5nsQ7pyyZ65Tt8kK;HKBf+-80~qv{G)igqm@2s_Fk9sSAm|LQP$$GgMq~s2(&z
zO?{|Gsc3iTFsO)`!=d(==ys?XRL)IvsMB2B%+vAc?DMc1ZqA3gmWz9Ni>Mvc!A*Op
zJGpr1P!DLDo1Re5a53&sKWL7d{!q`i?HKe?F$&Of6rvSqC0d0_&}vkQ1X_d2kVHw8
vLTiyi>(F{sj?!oY+K4ux3bYw*L0eHJszMrVLk4X})ySfn;T?muBh~)^CfzqV

delta 1229
zcmY+=OGs5g9LMoHkL%;y<LOl9bVr-ChpA1IV-amqB9b<?ifB<3=t5{y;i5%gP~r8_
z&bSs41qK#rHxTS$M4|TBlwc2BS&3LExiV6rerI!O7GGxZ`NN<8EWCJ67EtCUExb~H
z?&RX7t|NEmekG@7ZteWDZ{hEy3~kF$f})opj^Zc><)S>4Ka`=K_bRuO*fCFarC*MC
zg{^bMe)7~jkypRPVzH85TGB^jyW%q*QOm^6cxr{n>kch~B(;m4DyH(TLpceelFa5L
zlw|UeLq(ukW{VQ4j>+d)Iu$J|hcz%;o=}IGe4Dk1_JEEvyC<PeF!|A;dQd;J^$9h=
z<X4A|f-0#!now2g!BKB{(+6fdd^OJG+3){fdBZ1)aC^g7G(A3s-{_$BzOOo|Y<K3K
zV(uBWPkl8^<u!-if%2Gr=c{}s?>ICGD&=<4S7luGJM<G|x&7&@8ZMt?>0os75-i2-
zlCRpi9L-upUI9^`x%CRv7cR#glAu{`Wr6z9cJH+}bnkWI=5%W(F-HR3MMO&@iN%u5
z@#N`vtUBHl5IsjsQ=sRGxad#|XqlLnK(7$d<<Mo2q~>y<i>c^ws2h}IraRD*iQX)=
zM$39(waoMex{irV)*>1NH83+6=)+75J2V11&df-lPcZSup$SkwGZTRxU}D0dX;39K
z(}Av{VyZEHpx^(U`+=GDp&n1~AMguX2{#p?rd*t9`u|7vhD3Kzvp3Y8R9tZA5a<~-
zheAC}MarRLpgd-dg*u;!ZikvdrQ9@!x{Qn4SvnP+eI91HIUnj8E*@kpq7*2_O)Avw
zTs(HD2lSbno=|_`V#J|7&@4B7q5jdf`=O5tP=HpU5UoaQ&{|Z8)}bOK(0Y_a5*4Eo
uv;ir!5tX7cv<YoSThLZij<%r+REet4cBIh`WYA7jjV!7e+Wm0XaP>bT%r<lY

diff --git a/openpilot/system/loggerd/encoderd b/openpilot/system/loggerd/encoderd
index 85f319ff45f246976dbf8319f2228b83705b614a..ed76bc818413c88b2242db47c30ccf000fcefc09 100755
GIT binary patch
delta 1879
zcmY+^Z%kEX0LStBoaYfahkMS!cuo`-!G|6@`dmu+qg0e!OSBR}qd$s(4{7OYgSoV|
z=EP<jf5bU^bJ^6fHOG8Wa<^P$!l*{e#hQcJf;n<6Umy<cg<EW3_Tvr5^Wrmhf8U3l
zd+(mzV-I`iF-V;?c<ZH~_SQQe{c<#$t-LazE`NT0_`l;Rqb+3+SolkU!4gP=rH~FL
zSdalxu)zTrGGQ4!)}J!6nm%mpBI=4QP7?3Se<P7dwoJ=jl@=*nGGY@kL)3^Z?h@~-
zP`ZIMPt*-tJRsh;p>zi+W~e*1$ThqlLTL^uhpIVS#Hjb{V$ur_%W#OOpen-=3F=*6
zYzrxdR83XP5jE8NGnC>;4OGP)(MY|iP%1~dNL9Hb`jY=NXYr-VP+J`lPiC}a&9#nF
z)#{2d>U}W#=tn-~5@9fP$`zD(heD|b>4c$rT+wBCM?<L(X~0l@t{61D_D~u^GN~GJ
zg+;wD7E|lO=emX_n7ZbQ0_L4vYzyfoQZZ9ET~Wfk-cY)S)WOs}S9CHj6-p10#+iEP
ziV5a@A4+Z}5x1FgGsQIXhG*N@!7Sk5!Q+q(Pr#Fq12M>j<&f9U4(9*1I?+W^<a|_~
zBz#33iA3_^Ebn6)*}UXZl*k#hOHp~3@WN0VMw>?)j>-qgWoPnveauLa>rt6&@J*qU
zw{S9trpT?Rj8VQl)b68Ipxuwk1m*Ri#%v<1(U>i3lAqxTi3Yslwrr&QQ0Sz@$%|;x
zmVJ~T3$;=-g?CnJ%Xt6qXYv_IAH~rFjvPz=brx^iU@7v6BPrv#yC41V?GBMA@Q>||
z>@xVOQ0qn;K<jqoputN+?E;#KCtPr(mE3U-PY`&*caAJzyef3^Doz%oU3Fv$<2yrb
z9IXRw+>xD(?+djlv~jd4M@}Sv#1qnQ<JGJqr`sma<--aPPykPXgq83#_^=9AgMv5|
z!ZYwJtbw)tljn*)U5+0Rz2Ee4E!Jc&d^3B}a3`8g;?EG>Z2Gto>w^6-_IaWYoBjjB
z%Y*$0_L!lMm_9DX#$Z2=J%{S!rjJXpCD=Q$S5Vz)`Uy?>wji8FsHXa~>DN$R8|>ZK
z8>sF!ecX#(!QO-YBGo;nk2|p^*n6=nL-(3~Jh^_L=x_XH=(UzVM)}vlp)!m32GeDh
zk9+Y=uy4SA!q6KmA9vz%uvcOqFm$Em<30=pdlhz*>MF~(DE~RwYq1NaYc0P(Gd>c8
zI)q}T>ntBvVl>#Buy-)sWcj!be+2sh?Bh%yu>1+eCxg8O`)#IMEPuLfcCZMFp#(}{
z9ju2kcn+S27oZ$ogqL6gR6qhY!praqY=TPI3|rt;cnw~MtxyHqpc-mmJM4frpcdYQ
nx8QAf2X?|PsDs^54-L==dq6`IybF6_AG`<e_s<UQZ{PSoGL;4X

delta 1879
zcmY+^e@L8l0LStBKHsnIp7WmParu2R?>6;Y-+J`X+RogptW#@l)zn<}W4bdR%bF}u
z1}-8-8vfx;2V?zn!W1Dw_D609jjVLoz+fd~6BY`?Ml{CB9E%tvoM4~($7jzUFXTS&
zuRM3hmmAoepaYN`Q~2C({^q-LV|PcdUHP}^SXbC+?K?e~REClYfy`eD46+~_wt*j1
z2tW=5K?5BO$c63j*mP3K>-@BTgxE8hI8DrN{`2{K`7%4dB->Y>wV)BPM(hPm+$ZLD
zo^%T-P3&8m*dXQ)o^%f>q}cZ~5mwA!JSmM-K<%_9Le%_yD><2m<>*92shy*X8fxC$
zYMB&9YNU2p7fsas)04`OV$?3vMLRW9o>YxAMeS-`TuA)WlgGD}D)vEL*omCpymbE!
zYWEvrk($TWAN|N@3?c}#&lo~sW}hcbAPp<_gds*0^Gi><h%}?v7Y#A1m~l^<L-JF5
z&JZd!zurpyna_0{t(e)@4I!90w$(D}Hd2Jyw+&Ij%t=prfD~u;14Eo*X3~>3k(QXf
zX^3TJ{_IIcE)gka8@XbYne*#I?06n<FyV2?hbN!_LJ)=>uoDWW+3})lrL`j@Nxlur
z(}Wkd5udNHj1_)HefzU61&LfkyA+i72`~4wd9*azd{AyAwx28Fv5=A^H-j>)@O_?>
zcW|<RCdr+k3{l?fX%Eq&Xb*$3hVq!FF^$MZG^WX>#8-GiZ49rtCfh0R^PH48IfW)Q
zd4ci)Ppd>L#XGCiq&@w|xgtjVH*mCDmy3zN#_+ZYOOnrZsW86d$fF-Vt`j+oe~jyL
zMByc#Hi|ZbHmb{6g;#poc{D$sa9)>c;?OvrP>d)1s7t|kgXiQ`oQ$Ad)nx_ahdpf>
zEsnOV%TtVZd0Gl>2`#0|<-`>{!JopbbzQCwt&A5zF$j1Po&pI^!!uw(36z2jWl#>!
z!gH_-c2BR2N50sJ9}wrLYT;V!%Flc=9oe`OJu0!*h|{B5xDtEZ{RH+jaZae#2I1B2
zeiC~~aZaihE=HZZ4`MH%&Y)`HQXFviVeC=r469a+LwTbc&LT8Y=d5ZqQQqS2qu68A
z8C5OZi&l4^z&=Ht3Dv@#=y3N*?4^n`sakeo?`-66{AM`21J)wtQ|_Uv0I>*jssa}7
z#rN(W#XhV!(SU_J@sqpPW1mr+`hbP|Fz4<K*!|RL2v{oRzq)%1_G0F=1T5h&zTk#7
zga~um0v4{sqPuruk29w;VBtC}xqCPECFXPotYyYm+`SijiaEUjYjtS-as(>id8mXv
zuotS}1$Yr&f@*jfUV$joKrPh4tMD4^gL>Ex2jF#h1Kxy#&;X6l1aCnz9D=u@1>S*o
m;XQaC4nr%n!4Zf-JA42g;6NvQ2p>Tgd<>sVuU|eIulpbBum(l|

diff --git a/openpilot/system/loggerd/liblogger.a b/openpilot/system/loggerd/liblogger.a
index 63185da0da3b1bbbf8db5b5b3517729c2b750457..b65e3b551a13cd470fdb75c19d3dc8b1b8312a84 100644
GIT binary patch
delta 1881
zcmY+?PfVOe9LDjTKTv_)d0*}OI)z2-;E4F{_*wxKMFq81EEP=ZfvAus-2>4}t;BFJ
zE(a2pf2lPj5Vfgkh#^e_dmutAq#igBd#ELQfHbilH~<YaF-;&Tq(19mWe(rdCvSdv
zpUl$Sb-ILl`^XGE^FwNwgdYntLS*+@5{Z;{6_kEa5II(m6vS+iFe%J7k-ZjmgZ4<+
zEzCZV!xr^{;xz0Nrku)gi$+0ZEF2Xk&g4X%Qn_OjutpY62-C!5CT}^K0kyJlMwm7x
z=Pg<Ub+B+zm`)~_EXsnWSeO-Nn#rt1YoLIJYr-U`{QK-!=Z|zJb(@7pT(it%GI?->
zYL^(w!)n(sF3(w14;rFjy=#W4{KleY&^!&BU9&)C+M;$)5ewU0Q_SROp8gx53#NG3
z<(f(^f6iNOgdR{04|`lw%jGqT(x3qzrd>10<(x(1pcNjDyJnTkMT;gu8$6tJ%_f(B
zCi_ocqKF}m3Q!?BgdRghs2G)?D2gG09OR<M(G%z}@{o_7oIQO>9xlf7%8-eu9wFY*
zPcUsof>(UaA}0!FqC{`OW}<qVc*e3t*dA;#s`rUkZ&?-=rx}us>T>EGw`>ho#xi6r
zs^iT2C}*ks!3V%b;De}cV%}%ghdf4fD~!i<8}qs>^I#n?FQz-0*KL`GO~G_bPcyIA
zvN~8m3p1oHrW3QDPfAYk%rc})=w;@)pB@~eM-WYUhV%%{xL0mj8a9L<P76Iuy=u$G
zVe_zYp%<uEXW1mI2=^w1E@oa+&i)@`4ybT&PUuSRow7b$g4Mv5gs$aYyJah|0oaPr
zgWOA6whmi?tqZ-%y>piB!ZtX@*cE!S|NK>nj-XOhhT^CkJ%uXJ)95Hts1iMc^z8Yo
z&$2bVsNi}`jS&CJP9zeMx=>aZMohuY7*Sg!xEWL1#J^_I9nc;L?!?qS@qe}G9w<(O
zdofi`{ogHm2r6U2!<dRQ|BpPSa>q&pQH?Ap5vqy#*}UZ_4r*mVT&OnY|7B4E)WL#;
zP@T+Qx2OR$#exQ*rkVebMJ=F!1}#D*sK2)}_SJ=|okO=-kaE=W*q7f`c`3?+3yxyk
z@7_JQ$YqD9AsSqE)G+nGwP+eNPlIVkEl@vg(G5@$3vM{7nEBsZbPJ?-aLZAZ-2W+0
zXL7%N7gocAyN;^m{x5mU(S6VW5AHi^koy^n9)VVP@W@fC-2crY$0cfm2ac;Y`;!-|
z&~vC7J&yvEKnA^lLi8d!hF(H7s20_sm(eTeRaB2&L$9L-^agqpy@eW46M7rHgWg5Q
b(R=6wdLK2T570@}f=;0iXOkCO*G~Qm;PAS9

delta 1881
zcmY+?Ur60$9LMqV{L$$==lT6=zhBSJIm>+N$@J&buW446rK{GmIVD&ZQW}Gu3#ps6
zB)o`@7lOw>uoi++jYY_iG2OY4loZy57t$`Ka6n<uy71!2ltBy>6xQc-aq_u%U%mM8
z<@e!PSy-eiXkd`c(F;GOM@jgJFk?jaT_ll6ytgF&Wl7{@NlFm2O~RBgJ46mx)Cbxp
zVV^JuM2=ZB2ujd!P?#i@lNODG;w&5&Cc)%Xk<x`@Q?M2mP6^Y>WVUDpngeyPa88&`
zCYLN)26eM=S(qLsS1ihbW>}aLW|qmEMVp{n8g2>`Q2F=8iO+wcyXjRH9(T<eld06<
z5o%mw2oGyqL%F<UQ4?r{hE1*+rSe;g+CYmmY;(;Ll^Kh=KxHiKa!omt<3;*!gkD$`
z4|`psxcsGPg%SEe^*ro%O#_#=EXsf~Jj}Ren9Bu=CPC{woOI0wm&+DSgYrC_cFh)-
ztEr*$*C=9$qY_k#j-WDBj*g-V6h$#4kb_+G6nYvRLmu+cGxO)K$zw<Hys~5}s>g^|
z^(m&UtmBp6u*jK`xhT=wu(_z-A)c{p8MY5wj_L#AHCdK}C1{r9qB=>v)0S<*;w(!x
zqdLL7j|-MA9()XJ0X~lER_1kEAMzN{9WWl#oy_aC%!75qyqNA`UY}(eHUrZ!J<GfS
z%Nk*|v@}Z^V>+1sVp?*7XO<<sLa#B;{p|1<{eo!1v!q{W%DoeoWnd%t;f&Cu)T^;<
z61E7N6ncqzjh0Qr%5ZO5=yK+rD%k&HEC8!;a6xFry>r%wE3kUliqH+*>#}SEmVs>u
zJ<Pq7WqH^-EHCs1_byqs2g`Geu_yG_(B+#F9Y=ALKuL50J&P*QbEpa_^gMb2>G{hy
zUu2tjQNdzNjS>IX-AE)Nb*Zc=jhK?VF`~9fa5tuQh=0qX`=EUi+>faP;{RsRLr{VS
z4`V7x{XZ<)2gO;iA5#hD|5>DT;aG(rs)Yp=LbWnKSF{2pK^-he3f0N{zbvW)b+e#O
zs2=9$EouhMu%KC}S?2#^Q9G!X2JJ!x)IZpr`1(rq?vYg%q#d<3@zwX$UYhXWilZp^
z`}Phma@`?nga+3gHA?;OEV>O^q`_@REm1#X(H&433+_0oocTXkbPrU;gL{rr-2b^q
z7Ye`q09Ma~2aams{*9s)=n*KxgGY`U=6=?qC!lp6JaN<p_kXv@af!<Fz;V^qQ0i(m
zdI{B_S`?r<WYEhfM6aNes2(+-S5YH+4ZV)uKuzdP^cHGHZ=-im3u;BD(7Wh8^gcR`
aK0s&Cho}vGgwCRNbPjdQr>=Hxp8XdIS-J!O

diff --git a/openpilot/system/loggerd/loggerd b/openpilot/system/loggerd/loggerd
index 5b7d2c49ae3a0159c7bcd1a3dbc157aa10f0b4c6..28ca5bf6750f9888fd93f6e7cea5f5c9965cdc52 100755
GIT binary patch
delta 1291
zcmY+>O-PhM9LMpUm#yb9dwkla9(7IIoh;L7GPf7AY+ZZvl$Qz*Dv^RxFukyaP_RXj
zrn?X%Y(Y_hfrrRF1Rknehq_f5)V)iQLUa%*so!3f=I~(--~Y@o&r_IuNDD;|sA%A)
zUta875sTOTUH$e+VdhSI=cgM5I$EFviYo&SVORkx!2uV_VAX7amVfw_$r5wIkvSrM
zR?twW_A;w|;D(NbdmSR@iRpFZ0uhT=8bJC(%zz`8iCDJM8KfvRXB=5W1@r$u@B&gb
zGZ!2gWx_3`Q^m_h(2~rIII@F@ic%}44AL=XGLGzKVx5(4A@wnH%aQ#|M6HxVdd^JF
zku&*Ii{)ZvBQ=wbY|39*EdQPPz)Y<xKQeL7+EninNx7+aCFA0fl@!thHOiG)Dy~>5
zf%J-+gezZDaotL7NG>yNt}J6>w3IT%ccsu`+@xF?=OR~X#ngq=!cCVe6I|T2Qa93V
zZn|AL&c%HzokaS~%}G~&;o^~%`jEbH)91?XTs-wh(@W*B8a$`~e>T0eh9B<95`ElL
zITEA?NGMb_9IiSW4mF1dJ)-7`9`w`#39eZwjr51;w5OIykhRiHq$t%lJynx`e;^{-
ztC^nkRFnl%*4z~4l1xu|s)GduE4@HE#`FtMb?0MA9MQ-08&CDK;H@<`hq>oW&v|Nw
z1#?#ViquH;S5GzNFD4_!zppEO^^paGga5y=!6%Ax-QX+6gY#BuMVg?x)mK>>T(wdc
z(krUFeD#_JV^-=xa+&V&RT&E=ODX@OBjU8jxE}UZoCl9fq4=Rku&0IV5nm;E@XShM
zNVmBj^VN8MM=B!XpSiy0t1mowW6e!t?i<(BzWP2ol#0Mw5U>u`LjaXf1=SFR8rT4}
zPzM_!262$E3F=`pY=H*Y3XRYN3buiU?a&N6pal}J6L!IF*aNMw7usMS?1y$Z07>Y8
T6m-HtI0T2`$m~$+=sV{h&8;s)

delta 1291
zcmY+>&r6g+9LMpUA6w5;_V~1oJ?&biO_tg;ruM@u-L@a*MT02updct22Gg%C41+C-
zc1u0Aumwdy1|3TFAb7~5hq@&Q`3H1JutRhZv7pah7U%F{4)5>GFwc|EzNYztS5$0C
zUun<2tFQmsdHUXwH_6)<ua71l<!L%k2^3Za9Kx^xHi82#Y=X@*d0I06CpAXQWk-$^
z@w=3ULKSye#Va?|9`1FBTqdU1k-vyovC;t28ZiTo{7b|?D-9#Xs2O%-ITg%bf8b4|
zC^I)58DqjNrvAcZBWP{Rj5spRL}{@VQVOY)nUo{Dm?*Q-6Qo{do;b3PiE=AVAbnzH
z!jV(C{*@B3v6h;wBkOXbD<x~GZ_HG<a-NCn)~0HgNWx9ED=8OutfY{hQKMWrM#ZR=
znvgzI)8xuoDjr&?1<7Hi#g#4->0(M1-jzVB<R;<DDlR69t&lp98o23jWg{2Qt#kn?
z!_5U(KIP)2mAa9>bJOk0MK0c0sSoKVH+`;L;^MuZPOg@~7Vw}H{F&tHR(`H$jOa_A
z8Ye+=fP_NPtKsOiaOhBY&?9P@=s{2YBEbVIC6U&MPI~Gu3C6AT7%4{eV^5XmzO_X}
zYn17%r(!IawB{x;*T(dur{XNgTWK1plj&(sb>*t!IHH&7IZySm;EOf4fVodhFL-K-
z1q)XCfmBQN4^P$QZp9;ozpr=rYMupygX`Z|;}b==uJIM+!3`@lBR!+K*;ivUxNoHn
zq|a1$_-d9087uW5IZXHX%4I>em~zXfB2H^1*H?X2#e=uSQ25Xz*weuEh_4!X@X<;c
zqzu;?Up>t=BqCzZcdlRfYLN$X*4zio{p9+Cua?q7i3n^10cEfq0@wjjh(S5*gk4Yp
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diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 6781db48211231b03ce98030b9eabf298ed550ae..9e8ca98840cc488af7610221d36a8a4c895c7ba6 100644
GIT binary patch
delta 162
zcmV;T0A2r}=?tLh41k0Iv;v?P2rxJ{Wj8c6F^8xZ0=K9a19%*NG??kXcw^>I3Kq`L
z_A|7fS!TuBNwth)+b$v=XWT~w$U;sQB8`<Hj4=Uu6>#^befl0_j;>E>*LlGr7gyKu
zyK2j@wppk?{q*Nj_L*(0Ke-0W2qVb4%i=-F?=0rQs>ry~<igKm7ZmQ~Pa?I;PC_E1
Qu3H{hSp}ptp^aMs>>e6TM*si-

delta 162
zcmV;T0A2r}=?tLh41k0Iv;v?P2r*?jI5=i7Vuz>~0=K9a19%*NhK>Hoo%VzP*R_^-
z$3L$ttyPjs#i>lD^AIMkT9*^voq6%EDV}oe`5Eo^iCwGWnd}GG-9E7Nc34D<Bisa@
zF_L6snZ6BR)4YKGOu<E@Jyed#2%mfHN<0OC<<FGN*(Wi%Nx54g3Z_Pzr!4dgzK|qO
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index da5167a80d78169078ef61e04efbda2701e164be..47ff84942b4a0d1595d3ea44915b0daf7bbd32c2 100755
GIT binary patch
delta 21
dcmaD5_aJV=W-Sf_3$s*n6H~*@yS0|G003ly2qypl

delta 21
dcmaD5_aJV=W-SiGR7(qsG=rqgyS0|G003vE2#Npz

diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 5798f34862b7b94f9641ff846566dcbddbb849ac..2da673f41def2c1e7d37ac45a1b7ddad2e5d53ed 100755
GIT binary patch
delta 21
ccmewm_91LTr5cBUg;}b(iK*e{Mz!}W0AZF01poj5

delta 21
ccmewm_91LTr5cA}s-=ZRnnBX$Mz!}W0A#udXaE2J

diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 498607ac3abebf6b0d1bd4286bbea8c894500df0..b1e46d7d2ada4c1902b90ea894c6363a72a12fae 100755
GIT binary patch
delta 23
ecmeB}!q_o|af6`?hk=Dzs=0}&;bu#h^Q-_`L<c|s

delta 23
ecmeB}!q_o|af6`?hheIvg+-b{(q>DS^Q-_}Xa}PJ

diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 87aeb88b64..313fa2f10b 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,4 +1,4 @@
 #pragma once
 
 extern const uint8_t gitversion[29];
-const uint8_t gitversion[29] = "DEV-1e988f0b-P92eb5651-DEBUG";
+const uint8_t gitversion[29] = "DEV-086e7451-P92eb5651-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index dce6f2ed3b4a3e00fdfbf0fe1cac4017e6e00f01..ffcce03ffd462feff824aac56fc9ee073bc68ee1 100644
GIT binary patch
delta 160
zcmV;R0AK&Sq71yE41lx&?DGgPI5uTBG&M1Y^z#9?^z#D99Df81$?-Z)4!@VLRD6ZL
z)7^nHwWw=B!X8$6-Q!|!`{>XW4Hn2%k|uwgg(Sl)8mX;Hm<&K?QsGp2Lif8Sqdnl;
z0k|oWyi$x?BB9fMgCz`GBgtvNdl!NqeSJxJ+=U8%g=CJX=L2iIk6kK(GpYQ3)xQr_
ONh`wH1&QhHxB+9W;!CCg

delta 160
zcmV;R0AK&Sq71yE41lx&?DGgQWjQ!FW-wxh^z#9?^z#D99DlV>r#hPY$%4JDqwBQ9
zXQOJeC~P*?rFwS@5Tzc{(R^gDX$i1U@<X7kArI|$A)@<h!o~zEA+G@Xta3uizZ6@#
z=p%?5K*qm|^N|x$eB)i_ySy^pk^d6?Y7o6Z>8_!v8GU*i)JEOEE7r2?uW?#NMngt&
Oz2s!K24VIICIKUQOHgnC

diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index f96fe1a96fc97d719bb8ffa884b0615c2b2f8402..20e95a721ff545365a7164c676bc537b1e8f93fe 100644
GIT binary patch
delta 161
zcmV;S0ABy7?F^{x41k0Iv;rU(2rxJ{Wj8c6F^4D@0;eb!10R2?f}dME#DoZGG_A&A
z3fCT-<x{W2t)Zx<b%N0^p~QFA{>f#0)e|xD$%p+L-_pBXNnpjmE<AIszGKE$(4mD?
zP^c`#2s<0P0^Ofjy7%t~mr#9!y@~>6`t#-CSoZ`;&5#?=^Zd8dNpNs}*Nj-DG_7So
P+7#QJ$^&};09yfGCqYg|

delta 161
zcmV;S0ABy7?F^{x41k0Iv;rU(2r*?jI5=i7VuvUf0;eb!10R1a&ZsO}MEEq^ig7Zi
zi}sx03##hUHO2%~v;GTQylA```$&4tl3hC(a{^8qc=Lx!<x<H<8d_6+bkZ>o?9nD|
zq`$%kP`jI=VaZZaKJ@g1TapJ@xYC-r5AwtO>l1hz8rN54+_4M_trN%PhIbQa=iN-}
Pdal9Q+o1kfGrs{z6bMU+

diff --git a/panda/board/obj/version b/panda/board/obj/version
index 3731d2cab0..c5e3d9b21f 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-1e988f0b-P92eb5651-DEBUG
\ No newline at end of file
+DEV-086e7451-P92eb5651-DEBUG
\ No newline at end of file
diff --git a/prebuilt.json b/prebuilt.json
index 5f289c3fd7..ac95842a5f 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "c2126ff88e2a01f9fc9ad18b579d189f477d73f30ed2fb11507648ac06118393", "schema_version": 1}
+{"protected_inventory_sha256": "fe911c6c4177177a964b10626e821bc7142df8533394152deb8625cc8a36cb04", "schema_version": 1}